Invensense: 6515: Update HAL to v5_2_0_L_RC26-2015-02-27

Merged in the latest upgrade from Invensense, that purports to fix some cts sensor test failures and includes a better pedometer algorithm. Bug: 19575833 Bug: 16778026 Bug: 16702488 Change-Id: Iaf8eba248bb9aa97f7b6a5394e939370a4812776
author: Nick Vaccaro <nvaccaro@google.com> 2015-03-19 17:33:25 -0700
committer: Nick Vaccaro <nvaccaro@google.com> 2015-05-14 14:47:56 -0700
commit: 9b7ebb5143dd692c20fc9348ae999450133dad57 (patch)
tree: 4829f3f786d6510844abffafec779b34eacffc7a
parent: 6452c4ee74f245f0814e0cf44f2b6c1ad7a18fdf (diff)
download: invensense-9b7ebb5143dd692c20fc9348ae999450133dad57.tar.gz
32 files changed, 1098 insertions, 347 deletions
diff --git a/6515/Android.mk b/6515/Android.mk
index b80cd55..5053e7d 100644
--- a/6515/Android.mk
+++ b/6515/Android.mk
@@ -1,2 +1 @@
-# libsensors_iio expects IIO drivers for an MPU6515+AK8963
-include $(call all-named-subdir-makefiles,libsensors_iio)
+include $(call all-subdir-makefiles)
diff --git a/6515/libsensors_iio/Android.mk b/6515/libsensors_iio/Android.mk
index 7ae62cd..7fc9636 100755
--- a/6515/libsensors_iio/Android.mk
+++ b/6515/libsensors_iio/Android.mk
@@ -26,7 +26,21 @@ LOCAL_MODULE_OWNER := invensense
 
 LOCAL_CFLAGS := -DLOG_TAG=\"Sensors\"
 
+# ANDROID version check
+$(info YD>>PLATFORM_VERSION=$(PLATFORM_VERSION))
+MAJOR_VERSION :=$(shell echo $(PLATFORM_VERSION) | cut -f1 -d.)
+MINOR_VERSION :=$(shell echo $(PLATFORM_VERSION) | cut -f2 -d.)
+VERSION_KK :=$(shell test $(MAJOR_VERSION) -eq 4 -a $(MINOR_VERSION) -gt 3 && echo true)
+VERSION_L  :=$(shell test $(MAJOR_VERSION) -eq 5 -a $(MINOR_VERSION) -eq 0 && echo true)
+$(info YD>>ANDRIOD VERSION=$(MAJOR_VERSION).$(MINOR_VERSION))
+$(info YD>>VERSION_L=$(VERSION_L), VERSION_KK=$(VERSION_KK))
+#ANDROID version check END
+
+ifeq ($(VERSION_KK),true)
 LOCAL_CFLAGS += -DANDROID_KITKAT
+else
+LOCAL_CFLAGS += -DANDROID_LOLLIPOP
+endif
 
 ifneq (,$(filter $(TARGET_BUILD_VARIANT),eng userdebug user))
 ifneq ($(COMPILE_INVENSENSE_COMPASS_CAL),0)
@@ -95,6 +109,11 @@ else
 ifneq ($(filter aosp_hammerhead, $(TARGET_PRODUCT)),)
 LOCAL_MODULE := sensors.hammerhead
 LOCAL_MODULE_OWNER := invensense
+else
+ifneq ($(filter aosp_flounder, $(TARGET_PRODUCT)),)
+LOCAL_MODULE := sensors.flounder
+LOCAL_MODULE_OWNER := invensense
+endif
 endif
 ifneq ($(filter dory guppy, $(TARGET_DEVICE)),)
 LOCAL_MODULE := sensors.invensense
@@ -104,7 +123,13 @@ endif
 else    # eng, user, & userdebug builds
 LOCAL_MODULE := sensors.invensense
 endif   # eng, user & userdebug builds
+$(info YD>>LOCAL_MODULE=$(LOCAL_MODULE))
+
+ifdef TARGET_2ND_ARCH
+LOCAL_MODULE_RELATIVE_PATH := hw
+else
 LOCAL_MODULE_PATH := $(TARGET_OUT_SHARED_LIBRARIES)/hw
+endif
 
 LOCAL_SHARED_LIBRARIES += libmplmpu
 LOCAL_C_INCLUDES += $(LOCAL_PATH)/software/core/mllite
@@ -117,7 +142,11 @@ LOCAL_PRELINK_MODULE := false
 LOCAL_MODULE_TAGS := optional
 LOCAL_CFLAGS := -DLOG_TAG=\"Sensors\"
 
+ifeq ($(VERSION_KK),true)
 LOCAL_CFLAGS += -DANDROID_KITKAT
+else
+LOCAL_CFLAGS += -DANDROID_LOLLIPOP
+endif
 
 ifneq (,$(filter $(TARGET_BUILD_VARIANT),eng userdebug user))
 ifneq ($(COMPILE_INVENSENSE_COMPASS_CAL),0)
@@ -154,6 +183,7 @@ LOCAL_SHARED_LIBRARIES += libdl
 LOCAL_SHARED_LIBRARIES += liblog
 LOCAL_SHARED_LIBRARIES += libmllite
 LOCAL_SHARED_LIBRARIES += libhardware_legacy
+$(info YD>>LOCAL_MODULE=$(LOCAL_MODULE), LOCAL_SRC_FILES=$(LOCAL_SRC_FILES), LOCAL_SHARED_LIBRARIES=$(LOCAL_SHARED_LIBRARIES))
 include $(BUILD_SHARED_LIBRARY)
 
 include $(CLEAR_VARS)
diff --git a/6515/libsensors_iio/CompassSensor.IIO.9150.cpp b/6515/libsensors_iio/CompassSensor.IIO.9150.cpp
index d896212..a1b9214 100755
--- a/6515/libsensors_iio/CompassSensor.IIO.9150.cpp
+++ b/6515/libsensors_iio/CompassSensor.IIO.9150.cpp
@@ -332,6 +332,16 @@ void CompassSensor::fillList(struct sensor_t *list)
             return;
         }
         if(!strcmp(compass, "compass")
+                || !strcmp(compass, "INV_AK09912")
+                || !strcmp(compass, "AK09912")
+                || !strcmp(compass, "ak09912")) {
+            list->maxRange = COMPASS_AKM9912_RANGE;
+            list->resolution = COMPASS_AKM9912_RESOLUTION;
+            list->power = COMPASS_AKM9912_POWER;
+            list->minDelay = COMPASS_AKM9912_MINDELAY;
+            return;
+        }
+        if(!strcmp(compass, "compass")
                 || !strncmp(compass, "mlx90399",3)
                 || !strncmp(compass, "MLX90399",3)) {
             list->maxRange = COMPASS_MPU9350_RANGE;
diff --git a/6515/libsensors_iio/CompassSensor.IIO.primary.cpp b/6515/libsensors_iio/CompassSensor.IIO.primary.cpp
index db9a042..6baa4bb 100755
--- a/6515/libsensors_iio/CompassSensor.IIO.primary.cpp
+++ b/6515/libsensors_iio/CompassSensor.IIO.primary.cpp
@@ -445,6 +445,17 @@ void CompassSensor::fillList(struct sensor_t *list)
             mMinDelay = list->minDelay;
             return;
         }
+        if(!strcmp(compass, "compass")
+                || !strcmp(compass, "INV_AK09912")
+                || !strcmp(compass, "AK09912")
+                || !strcmp(compass, "ak09912")) {
+            list->maxRange = COMPASS_AKM9912_RANGE;
+            list->resolution = COMPASS_AKM9912_RESOLUTION;
+            list->power = COMPASS_AKM9912_POWER;
+            list->minDelay = COMPASS_AKM9912_MINDELAY;
+            mMinDelay = list->minDelay;
+            return;
+        }
         if(!strcmp(compass, "ami306")) {
             list->maxRange = COMPASS_AMI306_RANGE;
             list->resolution = COMPASS_AMI306_RESOLUTION;
diff --git a/6515/libsensors_iio/MPLSensor.cpp b/6515/libsensors_iio/MPLSensor.cpp
index 2106060..96f38fc 100644
--- a/6515/libsensors_iio/MPLSensor.cpp
+++ b/6515/libsensors_iio/MPLSensor.cpp
@@ -130,7 +130,21 @@ MPLSensor::MPLSensor(CompassSensor *compass, int (*m_pt2AccelCalLoadFunc)(long *
                          mFlushBatchSet(0),
                          mSkipReadEvents(0),
                          mDataMarkerDetected(0),
-                         mEmptyDataMarkerDetected(0) {
+                         mEmptyDataMarkerDetected(0),
+                         mGyroBatchRate(0),
+                         mAccelBatchRate(0),
+                         mCompassBatchRate(0),
+                         mPressureBatchRate(0),
+                         mQuatBatchRate(0),
+                         mGyroRate(0),
+                         mAccelRate(0),
+                         mCompassRate(0),
+                         mPressureRate(0),
+                         mQuatRate(0),
+                         mResetRate(0),
+                         mDataInterrupt(0),
+                         mFirstBatchCall(1),
+                         mEnableCalled(1) {
     VFUNC_LOG;
 
     inv_error_t rv;
@@ -1132,7 +1146,7 @@ int MPLSensor::setDmpFeature(int en)
     return res;
 }
 
-int MPLSensor::computeAndSetDmpState()
+int MPLSensor::computeDmpState(bool* dmp_state)
 {
     int res = 0;
     bool dmpState = 0;
@@ -1154,6 +1168,15 @@ int MPLSensor::computeAndSetDmpState()
         }
     }*/
 
+    *dmp_state = dmpState;
+
+    return res;
+}
+
+int MPLSensor::SetDmpState(bool dmpState)
+{
+    int res = 0;
+
     // set Dmp state
     res = onDmp(dmpState);
     if (res < 0)
@@ -1170,6 +1193,22 @@ int MPLSensor::computeAndSetDmpState()
         }
     }
     LOGV_IF(PROCESS_VERBOSE, "HAL:DMP is set %s", (dmpState ? "on" : "off"));
+    mDmpState = dmpState;
+    return dmpState;
+
+}
+
+int MPLSensor::computeAndSetDmpState()
+{
+    int res = 0;
+    bool dmpState = 0;
+
+    computeDmpState(&dmpState);
+
+    res = SetDmpState(dmpState);
+    if (res < 0)
+        return res;
+
     return dmpState;
 }
 
@@ -1781,7 +1820,6 @@ int MPLSensor::enableDmpPedometer(int en, int interruptMode)
         }
         else {
             mFeatureActiveMask |= INV_DMP_PEDOMETER_STEP;
-            mStepCountPollTime = 100000000LL;
         }
 
         clock_gettime(CLOCK_MONOTONIC, &mt_pre);
@@ -2483,7 +2521,7 @@ int MPLSensor::setBatch(int en, int toggleEnable)
     return res;
 }
 
-int MPLSensor::writeBatchTimeout(int en)
+int MPLSensor::calcBatchTimeout(int en, int64_t *out)
 {
     VFUNC_LOG;
 
@@ -2493,7 +2531,7 @@ int MPLSensor::writeBatchTimeout(int en)
         int64_t timeout = 100000000000LL;
         int64_t ns = 0;
         for (int i = 0; i < NumSensors; i++) {
-            LOGV_IF(1, "mFeatureActiveMask=0x%016llx, mEnabled=0x%01x, mBatchEnabled=0x%x",
+            LOGV_IF(0, "mFeatureActiveMask=0x%016llx, mEnabled=0x%01x, mBatchEnabled=0x%x",
                             mFeatureActiveMask, mEnabled, mBatchEnabled);
             if (((mEnabled & (1 << i)) && (mBatchEnabled & (1 << i))) ||
                     (checkPedStandaloneBatched() && (i == StepDetector))) {
@@ -2508,8 +2546,14 @@ int MPLSensor::writeBatchTimeout(int en)
         timeoutInMs = 0;
     }
 
-    LOGV_IF(PROCESS_VERBOSE,
-                    "HAL: batch timeout set to %lld ms", timeoutInMs);
+    *out = timeoutInMs;
+
+    return 0;
+}
+
+int MPLSensor::writeBatchTimeout(int en, int64_t timeoutInMs)
+{
+    VFUNC_LOG;
 
     if(mBatchTimeoutInMs != timeoutInMs) {
         /* write required timeout to sysfs */
@@ -2525,6 +2569,21 @@ int MPLSensor::writeBatchTimeout(int en)
     return 0;
 }
 
+int MPLSensor::writeBatchTimeout(int en)
+{
+    VFUNC_LOG;
+
+    int64_t timeoutInMs = 0;
+
+    calcBatchTimeout(en, &timeoutInMs);
+    LOGV_IF(PROCESS_VERBOSE,
+                    "HAL: batch timeout set to %lld ms", timeoutInMs);
+
+    writeBatchTimeout(en, timeoutInMs);
+
+    return 0;
+}
+
 /* Store calibration file */
 void MPLSensor::storeCalibration(void)
 {
@@ -2547,8 +2606,13 @@ int MPLSensor::gyroHandler(sensors_event_t* s)
 {
     VHANDLER_LOG;
     int update;
+#if defined ANDROID_LOLLIPOP
+    update = inv_get_sensor_type_gyroscope(s->gyro.v, &s->gyro.status,
+                                          (inv_time_t *)(&s->timestamp));
+#else
     update = inv_get_sensor_type_gyroscope(s->gyro.v, &s->gyro.status,
                                            &s->timestamp);
+#endif
     LOGV_IF(HANDLER_DATA, "HAL:gyro data : %+f %+f %+f -- %lld - %d",
             s->gyro.v[0], s->gyro.v[1], s->gyro.v[2], s->timestamp, update);
     return update;
@@ -2558,8 +2622,13 @@ int MPLSensor::rawGyroHandler(sensors_event_t* s)
 {
     VHANDLER_LOG;
     int update;
-    update = inv_get_sensor_type_gyroscope_raw(s->uncalibrated_gyro.uncalib,
+#if defined ANDROID_LOLLIPOP
+	update = inv_get_sensor_type_gyroscope_raw(s->uncalibrated_gyro.uncalib,
+                                               &s->gyro.status, (inv_time_t *)(&s->timestamp));
+#else
+	update = inv_get_sensor_type_gyroscope_raw(s->uncalibrated_gyro.uncalib,
                                                &s->gyro.status, &s->timestamp);
+#endif
     if(update) {
         memcpy(s->uncalibrated_gyro.bias, mGyroBias, sizeof(mGyroBias));
         LOGV_IF(HANDLER_DATA,"HAL:gyro bias data : %+f %+f %+f -- %lld - %d",
@@ -2577,8 +2646,13 @@ int MPLSensor::accelHandler(sensors_event_t* s)
 {
     VHANDLER_LOG;
     int update;
+#if defined ANDROID_LOLLIPOP
+    update = inv_get_sensor_type_accelerometer(
+        s->acceleration.v, &s->acceleration.status, (inv_time_t *)(&s->timestamp));
+#else
     update = inv_get_sensor_type_accelerometer(
         s->acceleration.v, &s->acceleration.status, &s->timestamp);
+#endif
     LOGV_IF(HANDLER_DATA, "HAL:accel data : %+f %+f %+f -- %lld - %d",
             s->acceleration.v[0], s->acceleration.v[1], s->acceleration.v[2],
             s->timestamp, update);
@@ -2590,8 +2664,13 @@ int MPLSensor::compassHandler(sensors_event_t* s)
 {
     VHANDLER_LOG;
     int update;
+#if defined ANDROID_LOLLIPOP
+    update = inv_get_sensor_type_magnetic_field(
+        s->magnetic.v, &s->magnetic.status, (inv_time_t *)(&s->timestamp));
+#else
     update = inv_get_sensor_type_magnetic_field(
         s->magnetic.v, &s->magnetic.status, &s->timestamp);
+#endif
     LOGV_IF(HANDLER_DATA, "HAL:compass data: %+f %+f %+f -- %lld - %d",
             s->magnetic.v[0], s->magnetic.v[1], s->magnetic.v[2],
             s->timestamp, update);
@@ -2604,6 +2683,15 @@ int MPLSensor::rawCompassHandler(sensors_event_t* s)
     VHANDLER_LOG;
     int update;
     //TODO: need to handle uncalib data and bias for 3rd party compass
+#if defined ANDROID_LOLLIPOP
+    if(mCompassSensor->providesCalibration()) {
+        update = mCompassSensor->readRawSample(s->uncalibrated_magnetic.uncalib, (int64_t *)(&s->timestamp));
+    }
+    else {
+        update = inv_get_sensor_type_magnetic_field_raw(s->uncalibrated_magnetic.uncalib,
+                     &s->magnetic.status, (inv_time_t *)(&s->timestamp));
+    }
+#else
     if(mCompassSensor->providesCalibration()) {
         update = mCompassSensor->readRawSample(s->uncalibrated_magnetic.uncalib, &s->timestamp);
     }
@@ -2611,6 +2699,7 @@ int MPLSensor::rawCompassHandler(sensors_event_t* s)
         update = inv_get_sensor_type_magnetic_field_raw(s->uncalibrated_magnetic.uncalib,
                      &s->magnetic.status, &s->timestamp);
     }
+#endif
     if(update) {
         memcpy(s->uncalibrated_magnetic.bias, mCompassBias, sizeof(mCompassBias));
         LOGV_IF(HANDLER_DATA, "HAL:compass bias data: %+f %+f %+f -- %lld - %d",
@@ -2633,8 +2722,13 @@ int MPLSensor::rvHandler(sensors_event_t* s)
     VHANDLER_LOG;
     int8_t status;
     int update;
+#if defined ANDROID_LOLLIPOP
+    update = inv_get_sensor_type_rotation_vector(s->data, &status,
+                                                 (inv_time_t *)(&s->timestamp));
+#else
     update = inv_get_sensor_type_rotation_vector(s->data, &status,
                                                  &s->timestamp);
+#endif
     s->orientation.status = status;
     update |= isCompassDisabled();
     LOGV_IF(HANDLER_DATA, "HAL:rv data: %+f %+f %+f %+f %+f %d- %+lld - %d",
@@ -2653,8 +2747,13 @@ int MPLSensor::grvHandler(sensors_event_t* s)
     VHANDLER_LOG;
     int8_t status;
     int update;
+#if defined ANDROID_LOLLIPOP
+    update = inv_get_sensor_type_rotation_vector_6_axis(s->data, &status,
+                                                     (inv_time_t *)(&s->timestamp));
+#else
     update = inv_get_sensor_type_rotation_vector_6_axis(s->data, &status,
                                                      &s->timestamp);
+#endif
     s->orientation.status = status;
 
     LOGV_IF(HANDLER_DATA, "HAL:grv data: %+f %+f %+f %+f %+f %d- %+lld - %d",
@@ -2667,8 +2766,13 @@ int MPLSensor::laHandler(sensors_event_t* s)
 {
     VHANDLER_LOG;
     int update;
+#if defined ANDROID_LOLLIPOP
+    update = inv_get_sensor_type_linear_acceleration(
+            s->gyro.v, &s->gyro.status, (inv_time_t *)(&s->timestamp));
+#else
     update = inv_get_sensor_type_linear_acceleration(
             s->gyro.v, &s->gyro.status, &s->timestamp);
+#endif
     update |= isCompassDisabled();
     LOGV_IF(HANDLER_DATA, "HAL:la data: %+f %+f %+f - %lld - %d",
             s->gyro.v[0], s->gyro.v[1], s->gyro.v[2], s->timestamp, update);
@@ -2679,8 +2783,13 @@ int MPLSensor::gravHandler(sensors_event_t* s)
 {
     VHANDLER_LOG;
     int update;
+#if defined ANDROID_LOLLIPOP
+    update = inv_get_sensor_type_gravity(s->gyro.v, &s->gyro.status,
+                                         (inv_time_t *)(&s->timestamp));
+#else
     update = inv_get_sensor_type_gravity(s->gyro.v, &s->gyro.status,
                                          &s->timestamp);
+#endif
     update |= isCompassDisabled();
     LOGV_IF(HANDLER_DATA, "HAL:gr data: %+f %+f %+f - %lld - %d",
             s->gyro.v[0], s->gyro.v[1], s->gyro.v[2], s->timestamp, update);
@@ -2691,8 +2800,14 @@ int MPLSensor::orienHandler(sensors_event_t* s)
 {
     VHANDLER_LOG;
     int update;
+#if defined ANDROID_LOLLIPOP
+    update = inv_get_sensor_type_orientation(
+            s->orientation.v, &s->orientation.status, (inv_time_t *)(&s->timestamp));
+#else
     update = inv_get_sensor_type_orientation(
             s->orientation.v, &s->orientation.status, &s->timestamp);
+
+#endif
     update |= isCompassDisabled();
     LOGV_IF(HANDLER_DATA, "HAL:or data: %f %f %f - %lld - %d",
             s->orientation.v[0], s->orientation.v[1], s->orientation.v[2],
@@ -2725,8 +2840,13 @@ int MPLSensor::gmHandler(sensors_event_t* s)
     VHANDLER_LOG;
     int8_t status;
     int update = 0;
+#if defined ANDROID_LOLLIPOP
+    update = inv_get_sensor_type_geomagnetic_rotation_vector(s->data, &status,
+                                                             (inv_time_t *)(&s->timestamp));
+#else
     update = inv_get_sensor_type_geomagnetic_rotation_vector(s->data, &status,
                                                              &s->timestamp);
+#endif
     s->orientation.status = status;
     LOGV_IF(HANDLER_DATA, "HAL:gm data: %+f %+f %+f %+f %+f %d- %+lld - %d",
             s->data[0], s->data[1], s->data[2], s->data[3], s->data[4], s->orientation.status, s->timestamp, update);
@@ -2780,7 +2900,7 @@ int MPLSensor::scHandler(sensors_event_t* s)
     int update = 1;
 
     /* Set step count */
-#if defined ANDROID_KITKAT
+#if defined ANDROID_KITKAT || defined ANDROID_LOLLIPOP
     s->u64.step_counter = mLastStepCount;
     LOGV_IF(HANDLER_DATA, "HAL:sc data: %lld - %lld - %d",
             s->u64.step_counter, s->timestamp, update);
@@ -2797,7 +2917,7 @@ int MPLSensor::metaHandler(sensors_event_t* s, int flags)
     VHANDLER_LOG;
     int update = 1;
 
-#if defined ANDROID_KITKAT
+#if defined ANDROID_KITKAT || defined ANDROID_LOLLIPOP
     /* initalize SENSOR_TYPE_META_DATA */
     s->version = 0;
     s->sensor = 0;
@@ -2810,7 +2930,7 @@ int MPLSensor::metaHandler(sensors_event_t* s, int flags)
         s->meta_data.what = flags;
         s->meta_data.sensor = mFlushSensorEnabledVector[0];
         mFlushSensorEnabledVector.removeAt(0);
-        mFlushBatchSet = 0;
+        //mFlushBatchSet = 0;
         LOGV_IF(HANDLER_DATA,
                 "HAL:flush complete data: type=%d what=%d, "
                 "sensor=%d - %lld - %d",
@@ -2837,6 +2957,9 @@ int MPLSensor::enable(int32_t handle, int en)
     if (uint32_t(handle) >= NumSensors)
         return -EINVAL;
 
+    /* set called flag */
+    mEnableCalled = 1;
+
     if (!en)
         mBatchEnabled &= ~(1 << handle);
 
@@ -3626,18 +3749,49 @@ int MPLSensor::readEvents(sensors_event_t* data, int count)
         }
     }
 
-    // handle partial packet read and end marker
-    // skip readEvents from hal_outputs
-    if (!mFlushSensorEnabledVector.isEmpty()) {
-        if (!mEmptyDataMarkerDetected) {
-            // turn off sensors in data_builder
-            resetMplStates();
+    if (!mSkipReadEvents) {
+        for (int i = 0; i < NumSensors; i++) {
+            int update = 0;
+
+            // handle step detector when ped_q is enabled
+            if(mPedUpdate) {
+                if (i == StepDetector) {
+                    update = readDmpPedometerEvents(data, count, ID_P, 1);
+                    mPedUpdate = 0;
+                    if(update == 1 && count > 0) {
+                        data->timestamp = mStepSensorTimestamp;
+                        count--;
+                        numEventReceived++;
+                        continue;
+                    }
+                } else {
+                    if (mPedUpdate == DATA_FORMAT_STEP) {
+                        continue;
+                    }
+                }
+            }
+
+            // load up virtual sensors
+            if (mEnabled & (1 << i)) {
+                update = CALL_MEMBER_FN(this, mHandlers[i])(mPendingEvents + i);
+                mPendingMask |= (1 << i);
+
+                if (update && (count > 0)) {
+                    *data++ = mPendingEvents[i];
+                    count--;
+                    numEventReceived++;
+                }
+            }
         }
-        mEmptyDataMarkerDetected = 0;
-        mDataMarkerDetected = 0;
+        mCompassOverFlow = 0;
+    }
 
+    // handle partial packet read and end marker
+    // skip readEvents from hal_outputs
+    int flush_vec_size = mFlushSensorEnabledVector.size();
+    if (flush_vec_size && mDataMarkerDetected && mFlushBatchSet) {
         // handle flush complete event
-        for(int k = 0; k < mFlushSensorEnabledVector.size(); k++) {
+        for(int k = 0; k < flush_vec_size; k++) {
             int sendEvent = metaHandler(&mPendingFlushEvents[k], META_DATA_FLUSH_COMPLETE);
             if(sendEvent && count > 0) {
                 *data++ = mPendingFlushEvents[k];
@@ -3645,47 +3799,22 @@ int MPLSensor::readEvents(sensors_event_t* data, int count)
                 numEventReceived++;
             }
         }
-        return numEventReceived;
-    }
-
-    if (mSkipReadEvents) {
-        return numEventReceived;
-    }
 
-    for (int i = 0; i < NumSensors; i++) {
-        int update = 0;
-
-        // handle step detector when ped_q is enabled
-        if(mPedUpdate) {
-            if (i == StepDetector) {
-                update = readDmpPedometerEvents(data, count, ID_P, 1);
-                mPedUpdate = 0;
-                if(update == 1 && count > 0) {
-                    data->timestamp = mStepSensorTimestamp;
-                    count--;
-                    numEventReceived++;
-                    continue;
-                }
-            } else {
-                if (mPedUpdate == DATA_FORMAT_STEP) {
-                    continue;
-                }
-            }
+        if (!mEmptyDataMarkerDetected) {
+            // turn off sensors in data_builder
+            resetMplStates();
         }
 
-        // load up virtual sensors
-        if (mEnabled & (1 << i)) {
-            update = CALL_MEMBER_FN(this, mHandlers[i])(mPendingEvents + i);
-            mPendingMask |= (1 << i);
-
-            if (update && (count > 0)) {
-                *data++ = mPendingEvents[i];
-                count--;
-                numEventReceived++;
-            }
+        // Double check flush status
+        if (mFlushSensorEnabledVector.isEmpty()) {
+			mEmptyDataMarkerDetected = 0;
+            mDataMarkerDetected = 0;
+			mFlushBatchSet = 0;
+            LOGV_IF(0, "Flush completed");
+        } else {
+            LOGV_IF(0, "Flush is still active");
         }
     }
-    mCompassOverFlow = 0;
 
     return numEventReceived;
 }
@@ -3870,7 +3999,6 @@ LOGV_IF(INPUT_DATA,
                 LOGV_IF(0, "STEP DETECTED:0x%x", data_format);
             }
             mPedUpdate |= data_format;
-            mask |= DATA_FORMAT_STEP;
             // cancels step bit
             data_format &= (~DATA_FORMAT_STEP);
         }
@@ -3998,7 +4126,7 @@ LOGV_IF(INPUT_DATA,
             }
         }
         else if (data_format == DATA_FORMAT_COMPASS_OF) {
-            LOGV_IF(ENG_VERBOSE && INPUT_DATA, "COMPASS OF DETECTED:0x%x", data_format);            
+            LOGV_IF(ENG_VERBOSE && INPUT_DATA, "COMPASS OF DETECTED:0x%x", data_format);
             mask |= DATA_FORMAT_COMPASS_OF;
             mCompassOverFlow = 1;
 #ifdef INV_PLAYBACK_DBG
@@ -4060,7 +4188,6 @@ LOGV_IF(INPUT_DATA,
 					mFlushBatchSet = 1;
 				}
 				mDataMarkerDetected = 1;
-				mSkipReadEvents = 1;
 				if (readCounter == 0) {
 					mLeftOverBufferSize = 0;
 					if(doneFlag != 0) {
@@ -4086,20 +4213,6 @@ LOGV_IF(INPUT_DATA,
             mLeftOverBufferSize = 0;
         }
 
-        /* take the latest timestamp */
-        if (mask & DATA_FORMAT_STEP) {
-        /* work around driver output duplicate step detector bit */
-            if (latestTimestamp > mStepSensorTimestamp) {
-                mStepSensorTimestamp = latestTimestamp;
-                LOGV_IF(INPUT_DATA,
-                    "HAL:input build step: 1 - %lld", mStepSensorTimestamp);
-            } else {
-                mPedUpdate = 0;
-            }
-            // cancels step bit
-            mask &= (~DATA_FORMAT_STEP);
-        }
-
         /* handle data read */
         if (mask == DATA_FORMAT_GYRO) {
             /* batch mode does not batch temperature */
@@ -4146,26 +4259,28 @@ LOGV_IF(INPUT_DATA,
         }
 
         if (mask == DATA_FORMAT_ACCEL) {
-            mPendingMask |= 1 << Accelerometer;
-            inv_build_accel(mCachedAccelData, 0, mAccelSensorTimestamp);
-            LOGV_IF(INPUT_DATA,
-               "HAL:input inv_build_accel: %+8ld %+8ld %+8ld - %lld",
-                mCachedAccelData[0], mCachedAccelData[1],
-                mCachedAccelData[2], mAccelSensorTimestamp);
-                /* remember inital 6 axis quaternion */
-                inv_time_t tempTimestamp;
-                inv_get_6axis_quaternion(mInitial6QuatValue, &tempTimestamp);
-                if (mInitial6QuatValue[0] != 0 && mInitial6QuatValue[1] != 0 &&
-                        mInitial6QuatValue[2] != 0 && mInitial6QuatValue[3] != 0) {
-                    mInitial6QuatValueAvailable = 1;
-                    LOGV_IF(INPUT_DATA && ENG_VERBOSE,
-                        "HAL:input build 6q init: %+8ld %+8ld %+8ld %+8ld",
-                        mInitial6QuatValue[0], mInitial6QuatValue[1],
-                        mInitial6QuatValue[2], mInitial6QuatValue[3]);
-                }
-            latestTimestamp = mAccelSensorTimestamp;
+            if (mLocalSensorMask & INV_THREE_AXIS_ACCEL) {
+                mPendingMask |= 1 << Accelerometer;
+                inv_build_accel(mCachedAccelData, 0, mAccelSensorTimestamp);
+                LOGV_IF(INPUT_DATA,
+                   "HAL:input inv_build_accel: %+8ld %+8ld %+8ld - %lld",
+                    mCachedAccelData[0], mCachedAccelData[1],
+                    mCachedAccelData[2], mAccelSensorTimestamp);
+                    /* remember inital 6 axis quaternion */
+                    inv_time_t tempTimestamp;
+                    inv_get_6axis_quaternion(mInitial6QuatValue, &tempTimestamp);
+                    if (mInitial6QuatValue[0] != 0 && mInitial6QuatValue[1] != 0 &&
+                            mInitial6QuatValue[2] != 0 && mInitial6QuatValue[3] != 0) {
+                        mInitial6QuatValueAvailable = 1;
+                        LOGV_IF(INPUT_DATA && ENG_VERBOSE,
+                            "HAL:input build 6q init: %+8ld %+8ld %+8ld %+8ld",
+                            mInitial6QuatValue[0], mInitial6QuatValue[1],
+                            mInitial6QuatValue[2], mInitial6QuatValue[3]);
+                    }
+                latestTimestamp = mAccelSensorTimestamp;
+            }
         }
-        
+
         if (mask  == DATA_FORMAT_COMPASS_OF) {
             /* compass overflow detected */
             /* reset compass algorithm */
@@ -4178,7 +4293,7 @@ LOGV_IF(INPUT_DATA,
                     mCachedCompassData[2], mCompassTimestamp);
             resetCompass();
         }
-        
+
         if ((mask == DATA_FORMAT_COMPASS) && mCompassSensor->isIntegrated()) {
             int status = 0;
             if (mCompassSensor->providesCalibration()) {
@@ -4272,6 +4387,17 @@ LOGV_IF(INPUT_DATA,
             }
         }
 #endif
+        /* take the latest timestamp */
+        if (mPedUpdate & DATA_FORMAT_STEP) {
+        /* work around driver output duplicate step detector bit */
+            if (latestTimestamp > mStepSensorTimestamp) {
+                mStepSensorTimestamp = latestTimestamp;
+                LOGV_IF(INPUT_DATA,
+                    "HAL:input build step: 1 - %lld", mStepSensorTimestamp);
+            } else {
+                mPedUpdate = 0;
+            }
+        }
    }    //while end
 }
 
@@ -4615,8 +4741,11 @@ int MPLSensor::getPollTime(void)
 int MPLSensor::getStepCountPollTime(void)
 {
     VFUNC_LOG;
-    /* clamped to 1ms? as spec, still rather large */
-    return 100;
+    if (mDmpStepCountEnabled) {
+        // convert poll time from nS to mS
+        return (mStepCountPollTime / 1000000LL);
+    }
+    return 1000;
 }
 
 bool MPLSensor::hasStepCountPendingEvents(void)
@@ -4870,6 +4999,12 @@ void MPLSensor::fillAccel(const char* accel, struct sensor_t *list)
             list[Accelerometer].power = ACCEL_MPU9250_POWER;
             list[Accelerometer].minDelay = ACCEL_MPU9250_MINDELAY;
             return;
+        } else if (accel != NULL && strcmp(accel, "MPU9255") == 0) {
+            list[Accelerometer].maxRange = ACCEL_MPU9255_RANGE;
+            list[Accelerometer].resolution = ACCEL_MPU9255_RESOLUTION;
+            list[Accelerometer].power = ACCEL_MPU9255_POWER;
+            list[Accelerometer].minDelay = ACCEL_MPU9255_MINDELAY;
+            return;
         } else if (accel != NULL && strcmp(accel, "MPU9350") == 0) {
             list[Accelerometer].maxRange = ACCEL_MPU9350_RANGE;
             list[Accelerometer].resolution = ACCEL_MPU9350_RESOLUTION;
@@ -4928,6 +5063,11 @@ void MPLSensor::fillGyro(const char* gyro, struct sensor_t *list)
         list[Gyro].resolution = GYRO_MPU9250_RESOLUTION;
         list[Gyro].power = GYRO_MPU9250_POWER;
         list[Gyro].minDelay = GYRO_MPU9250_MINDELAY;
+    } else if( gyro != NULL && strcmp(gyro, "MPU9255") == 0) {
+        list[Gyro].maxRange = GYRO_MPU9255_RANGE;
+        list[Gyro].resolution = GYRO_MPU9255_RESOLUTION;
+        list[Gyro].power = GYRO_MPU9255_POWER;
+        list[Gyro].minDelay = GYRO_MPU9255_MINDELAY;
     } else if( gyro != NULL && strcmp(gyro, "MPU9350") == 0) {
         list[Gyro].maxRange = GYRO_MPU9350_RANGE;
         list[Gyro].resolution = GYRO_MPU9350_RESOLUTION;
@@ -5651,6 +5791,12 @@ int MPLSensor::batch(int handle, int flags, int64_t period_ns, int64_t timeout)
         return 0;
     }
 
+    if (what == StepCounter) {
+        mStepCountPollTime = period_ns;
+        LOGI("HAL: set step count poll time = %lld nS (%.2f Hz)",
+            mStepCountPollTime, 1000000000.f / mStepCountPollTime);
+    }
+
     int tempBatch = 0;
     if (timeout > 0) {
         tempBatch = mBatchEnabled | (1 << what);
@@ -5705,6 +5851,83 @@ int MPLSensor::batch(int handle, int flags, int64_t period_ns, int64_t timeout)
         mBatchTimeouts[what] = timeout;
     }
 
+    // Check if need to change configurations
+    int  master_enable_call = 0;
+    int64_t tmp_batch_timeout = 0;
+    bool tmp_dmp_state = 0;
+    int64_t tmp_gyro_rate;
+    int64_t tmp_accel_rate;
+    int64_t tmp_compass_rate;
+    int64_t tmp_pressure_rate;
+    int64_t tmp_quat_rate;
+    int64_t tmp_reset_rate;
+    bool skip_reset_data_rate = false;
+
+    if (mFirstBatchCall) {
+        LOGI_IF(0, "HAL: mFirstBatchCall = %d", mFirstBatchCall);
+        master_enable_call++;
+        mFirstBatchCall = 0;
+    }
+
+    if (mEnableCalled) {
+        LOGI_IF(0, "HAL: mEnableCalled = %d", mEnableCalled);
+        master_enable_call++;
+        mEnableCalled = 0;
+    }
+
+    if(((int)mOldBatchEnabledMask != batchMode) || batchMode) {
+        calcBatchTimeout(batchMode, &tmp_batch_timeout);
+        if (tmp_batch_timeout != mBatchTimeoutInMs)
+            master_enable_call++;
+        if (computeDmpState(&tmp_dmp_state) < 0) {
+            LOGE("HAL:ERR can't compute dmp state");
+        }
+        if (tmp_dmp_state != mDmpState)
+            master_enable_call++;
+    }
+
+    if (batchMode == 1) {
+        if (calcBatchDataRates(&tmp_gyro_rate, &tmp_accel_rate, &tmp_compass_rate, &tmp_pressure_rate, &tmp_quat_rate) < 0) {
+            LOGE("HAL:ERR can't get batch data rates");
+        }
+        if (tmp_gyro_rate != mGyroBatchRate)
+            master_enable_call++;
+        if (tmp_accel_rate != mAccelBatchRate)
+            master_enable_call++;
+        if (tmp_compass_rate != mCompassBatchRate)
+            master_enable_call++;
+        if (tmp_pressure_rate != mPressureBatchRate)
+            master_enable_call++;
+        if (tmp_quat_rate != mQuatBatchRate)
+            master_enable_call++;
+    } else {
+        if (calctDataRates(&tmp_reset_rate, &tmp_gyro_rate, &tmp_accel_rate, &tmp_compass_rate, &tmp_pressure_rate) < 0) {
+            skip_reset_data_rate = true;
+            LOGW("HAL:ERR can't get output rate back to original setting");
+        }
+        if (tmp_reset_rate != mResetRate)
+            master_enable_call++;
+        if (tmp_gyro_rate != mGyroRate)
+            master_enable_call++;
+        if (tmp_accel_rate != mAccelRate)
+            master_enable_call++;
+        if (tmp_compass_rate != mCompassRate)
+            master_enable_call++;
+        if (tmp_pressure_rate != mPressureRate)
+            master_enable_call++;
+    }
+    uint32_t dataInterrupt = (mEnabled || (mFeatureActiveMask & INV_DMP_BATCH_MODE));
+    if (dataInterrupt != mDataInterrupt)
+        master_enable_call++;
+
+    if (master_enable_call == 0) {
+        LOGI_IF(0, "HAL: Skip batch configurations");
+        goto batch_end;
+    } else {
+        LOGI_IF(0, "HAL: Do batch configurations");
+    }
+
+
     // reset master enable
     res = masterEnable(0);
     if (res < 0) {
@@ -5806,38 +6029,42 @@ int MPLSensor::batch(int handle, int flags, int64_t period_ns, int64_t timeout)
         }
     }*/
 
-    writeBatchTimeout(batchMode);
+    writeBatchTimeout(batchMode, tmp_batch_timeout);
 
-    if (computeAndSetDmpState() < 0) {
-        LOGE("HAL:ERR can't compute dmp state");
+    if (SetDmpState(tmp_dmp_state) < 0) {
+        LOGE("HAL:ERR can't set dmp state");
     }
 
 }//end of batch mode modify
 
     if (batchMode == 1) {
         /* set batch rates */
-        if (setBatchDataRates() < 0) {
+        if (setBatchDataRates(tmp_gyro_rate, tmp_accel_rate, tmp_compass_rate, tmp_pressure_rate, tmp_quat_rate) < 0) {
             LOGE("HAL:ERR can't set batch data rates");
         }
     } else {
         /* reset sensor rate */
-        if (resetDataRates() < 0) {
-            LOGE("HAL:ERR can't reset output rate back to original setting");
+        if (!skip_reset_data_rate) {
+            if (resetDataRates(tmp_reset_rate, tmp_gyro_rate, tmp_accel_rate, tmp_compass_rate, tmp_pressure_rate) < 0) {
+                LOGE("HAL:ERR can't reset output rate back to original setting");
+           }
         }
     }
 
     // set sensor data interrupt
-    uint32_t dataInterrupt = (mEnabled || (mFeatureActiveMask & INV_DMP_BATCH_MODE));
     LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %d > %s (%lld)",
                 !dataInterrupt, mpu.dmp_event_int_on, getTimestamp());
     if (write_sysfs_int(mpu.dmp_event_int_on, !dataInterrupt) < 0) {
         res = -1;
         LOGE("HAL:ERR can't enable DMP event interrupt");
     }
+    mDataInterrupt = dataInterrupt;
 
     if (enabled_sensors || mFeatureActiveMask) {
         masterEnable(1);
     }
+
+batch_end:
     return res;
 }
 
@@ -5862,6 +6089,7 @@ int MPLSensor::flush(int handle)
 
     LOGV_IF(PROCESS_VERBOSE, "HAL: flush - select sensor %s (handle %d)", sname.string(), handle);
 
+
     if (((what != StepDetector) && (!(mEnabled & (1 << what)))) ||
         ((what == StepDetector) && !(mFeatureActiveMask & INV_DMP_PEDOMETER))) {
         LOGV_IF(ENG_VERBOSE, "HAL: flush - sensor %s not enabled", sname.string());
@@ -5873,6 +6101,7 @@ int MPLSensor::flush(int handle)
     }
 
     mFlushSensorEnabledVector.push_back(handle);
+    mFlushBatchSet = 0;
 
     /*write sysfs */
     LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:cat %s (%lld)",
@@ -5890,7 +6119,6 @@ int MPLSensor::flush(int handle)
 
     LOGV_IF(ENG_VERBOSE, "HAl:flush - mFlushSensorEnabledVector=%d res=%d status=%d", handle, res, status);
 
-    mFlushBatchSet = 0;
     return 0;
 }
 
@@ -6302,9 +6530,7 @@ int MPLSensor::writeSignificantMotionParams(bool toggleEnable,
     return res;
 }
 
-/* set batch data rate */
-/* this function should be optimized */
-int MPLSensor::setBatchDataRates()
+int MPLSensor::calcBatchDataRates(int64_t *gyro_rate, int64_t *accel_rate, int64_t *compass_rate, int64_t *pressure_rate, int64_t *quat_rate)
 {
     VFUNC_LOG;
 
@@ -6358,7 +6584,7 @@ int MPLSensor::setBatchDataRates()
         LOGV_IF(PROCESS_VERBOSE,
             "HAL:MPL quat sample rate: (mpl)=%d us (mpu)=%.2f Hz", mplQuatRate,
                 1000000000.f / quatRate );
-        getDmpRate(&quatRate);
+        //getDmpRate(&quatRate);
     }
 
     mplGyroRate = (int) gyroRate / 1000LL;
@@ -6395,6 +6621,29 @@ int MPLSensor::setBatchDataRates()
 #endif
 #endif
 
+    *gyro_rate = gyroRate;
+    *accel_rate = accelRate;
+    *compass_rate = compassRate;
+#ifdef ENABLE_PRESSURE
+    *pressure_rate = pressureRate;
+#endif
+    *quat_rate = quatRate;
+
+    return 0;
+}
+
+int MPLSensor::MPLSensor::setBatchDataRates(int64_t gyroRate, int64_t accelRate, int64_t compassRate, int64_t pressureRate, int64_t quatRate)
+{
+    VFUNC_LOG;
+
+    int res = 0;
+    int tempFd = -1;
+
+    if ((mFeatureActiveMask & INV_DMP_PED_QUATERNION) ||
+            (mFeatureActiveMask & INV_DMP_6AXIS_QUATERNION)) {
+        getDmpRate(&quatRate);
+    }
+
     /* takes care of gyro rate */
     LOGV_IF(SYSFS_VERBOSE, "HAL:sysfs:echo %.0f > %s (%lld)",
             1000000000.f / gyroRate, mpu.gyro_rate,
@@ -6424,32 +6673,47 @@ int MPLSensor::setBatchDataRates()
     mPressureSensor->setDelay(ID_PS, pressureRate);
 #endif
 
+    mGyroBatchRate = gyroRate;
+    mAccelBatchRate = accelRate;
+    mCompassBatchRate = compassRate;
+    mPressureBatchRate = pressureRate;
+    mQuatBatchRate = quatRate;
+
     return res;
 }
 
-/* Set sensor rate */
+/* set batch data rate */
 /* this function should be optimized */
-int MPLSensor::resetDataRates()
+int MPLSensor::setBatchDataRates()
 {
     VFUNC_LOG;
 
     int res = 0;
-    int tempFd = -1;
-    int64_t wanted = 1000000000LL;
 
-    int64_t resetRate;
     int64_t gyroRate;
     int64_t accelRate;
     int64_t compassRate;
-#ifdef ENABLE_PRESSURE
     int64_t pressureRate;
-#endif
+    int64_t quatRate;
+
+    calcBatchDataRates(&gyroRate, &accelRate, &compassRate, &pressureRate, &quatRate);
+    setBatchDataRates(gyroRate, accelRate, compassRate, pressureRate, quatRate);
+
+    return res;
+}
+
+int MPLSensor::calctDataRates(int64_t *resetRate, int64_t *gyroRate, int64_t *accelRate, int64_t *compassRate, int64_t *pressureRate)
+{
+    VFUNC_LOG;
+
+    int res = 0;
+    int tempFd = -1;
+    int64_t wanted = 1000000000LL;
 
     if (!mEnabled) {
         LOGV_IF(ENG_VERBOSE, "skip resetDataRates");
-        return 0;
+        return -1;
     }
-    LOGI("HAL:resetDataRates mEnabled=%d", mEnabled);
     /* search the minimum delay requested across all enabled sensors */
     /* skip setting rates if it is not changed */
     for (int i = 0; i < NumSensors; i++) {
@@ -6466,15 +6730,26 @@ int MPLSensor::resetDataRates()
         }
     }
 
-    resetRate = wanted;
-    gyroRate = wanted;
-    accelRate = wanted;
-    compassRate = wanted;
-#ifdef ENABLE_PRESSURE
-    pressureRate = wanted;
-#endif
+    *resetRate = wanted;
+    *gyroRate = wanted;
+    *accelRate = wanted;
+    *compassRate = wanted;
+    *pressureRate = wanted;
+
+    return 0;
+}
 
-    /* set mpl data rate */
+int MPLSensor::resetDataRates(int64_t resetRate, int64_t gyroRate, int64_t accelRate, int64_t compassRate, int64_t pressureRate)
+{
+    VFUNC_LOG;
+
+    int res = 0;
+    int tempFd = -1;
+    int64_t wanted;
+
+    wanted = resetRate;
+
+   /* set mpl data rate */
    inv_set_gyro_sample_rate((int)gyroRate/1000LL);
    inv_set_accel_sample_rate((int)accelRate/1000LL);
    inv_set_compass_sample_rate((int)compassRate/1000LL);
@@ -6544,6 +6819,34 @@ int MPLSensor::resetDataRates()
         }
     }
 
+    mResetRate = resetRate;
+    mGyroRate = gyroRate;
+    mAccelRate = accelRate;
+    mCompassRate = compassRate;
+    mPressureRate = pressureRate;
+
+    return res;
+}
+
+/* Set sensor rate */
+/* this function should be optimized */
+int MPLSensor::resetDataRates()
+{
+    VFUNC_LOG;
+
+    int res = 0;
+    int64_t resetRate;
+    int64_t gyroRate;
+    int64_t accelRate;
+    int64_t compassRate;
+    int64_t pressureRate;
+
+    res = calctDataRates(&resetRate, &gyroRate, &accelRate, &compassRate, &pressureRate);
+    if (res)
+        return 0;
+
+    resetDataRates(resetRate, gyroRate, accelRate, compassRate, pressureRate);
+
     return res;
 }
 
diff --git a/6515/libsensors_iio/MPLSensor.h b/6515/libsensors_iio/MPLSensor.h
index 4c2dcea..13ba301 100644
--- a/6515/libsensors_iio/MPLSensor.h
+++ b/6515/libsensors_iio/MPLSensor.h
@@ -188,6 +188,7 @@ public:
     int checkBatchEnabled();
     int setBatch(int en, int toggleEnable);
     int writeBatchTimeout(int en);
+    int writeBatchTimeout(int en, int64_t timeoutInMs);
     int32_t getEnableMask() { return mEnabled; }
     void getHandle(int32_t handle, int &what, android::String8 &sname);
 
@@ -294,6 +295,8 @@ protected:
     void enable_iio_sysfs(void);
     int setDmpFeature(int en);
     int computeAndSetDmpState(void);
+    int computeDmpState(bool* dmp_state);
+    int SetDmpState(bool dmpState);
     int enablePedometer(int);
     int enablePedIndicator(int en);
     int checkPedStandaloneBatched(void);
@@ -413,6 +416,23 @@ protected:
     int64_t mCompassTimestamp;
     int64_t mPressureTimestamp;
 
+    int64_t mGyroBatchRate;
+    int64_t mAccelBatchRate;
+    int64_t mCompassBatchRate;
+    int64_t mPressureBatchRate;
+    int64_t mQuatBatchRate;
+    int64_t mGyroRate;
+    int64_t mAccelRate;
+    int64_t mCompassRate;
+    int64_t mPressureRate;
+    int64_t mQuatRate;
+    int64_t mResetRate;
+
+    uint32_t mDataInterrupt;
+
+    bool mFirstBatchCall;
+    bool mEnableCalled;
+
     struct sysfs_attrbs {
        char *chip_enable;
        char *power_state;
@@ -519,6 +539,7 @@ protected:
     uint32_t mSkipReadEvents;
     bool mDataMarkerDetected;
     bool mEmptyDataMarkerDetected;
+    int mDmpState;
 
 private:
     /* added for dynamic get sensor list */
@@ -551,10 +572,15 @@ private:
     void setAccelBias();
     int isCompassDisabled();
     int setBatchDataRates();
+    int calcBatchDataRates(int64_t *gyro_rate, int64_t *accel_rate, int64_t *compass_rate, int64_t *pressure_rate, int64_t *quat_rate);
+    int setBatchDataRates(int64_t gyroRate, int64_t accelRate, int64_t compassRate, int64_t pressureRate, int64_t quatRate);
     int resetDataRates();
+    int calctDataRates(int64_t *resetRate, int64_t *gyroRate, int64_t *accelRate, int64_t *compassRate, int64_t *pressureRate);
+    int resetDataRates(int64_t resetRate, int64_t gyroRate, int64_t accelRate, int64_t compassRate, int64_t pressureRate);
     void initBias();
     void resetMplStates();
     void sys_dump(bool fileMode);
+    int calcBatchTimeout(int en, int64_t *out);
 };
 
 extern "C" {
diff --git a/6515/libsensors_iio/PressureSensor.IIO.secondary.cpp b/6515/libsensors_iio/PressureSensor.IIO.secondary.cpp
index 039881e..c213cd4 100755
--- a/6515/libsensors_iio/PressureSensor.IIO.secondary.cpp
+++ b/6515/libsensors_iio/PressureSensor.IIO.secondary.cpp
@@ -196,5 +196,14 @@ int PressureSensor::inv_init_sysfs_attributes(void)
  
     sprintf(pressureSysFs.pressure_enable, "%s%s", mSysfsPath, "/pressure_enable");
     sprintf(pressureSysFs.pressure_rate, "%s%s", mSysfsPath, "/pressure_rate");
+
+    // Supported by driver ?
+    FILE  *sysfsfp;
+    sysfsfp = fopen(pressureSysFs.pressure_rate, "r");
+    if (sysfsfp == NULL) {
+        LOGE("HAL: HAL configured to support Pressure sensor but not by driver");
+    } else {
+        fclose(sysfsfp);
+    }
     return 0;
 }
diff --git a/6515/libsensors_iio/README_L_arm64 b/6515/libsensors_iio/README_L_arm64
new file mode 100644
index 0000000..eac69ba
--- /dev/null
+++ b/6515/libsensors_iio/README_L_arm64
@@ -0,0 +1,16 @@
+For building Invensense HAL for Android L Arm 64bit
+===================================================
+	$ cd $android_L_root
+	$ . build/envsetup.sh
+	$ lunch aosp_flounder-userdebug (or any arm64 target)
+
+	$ -> copy Invensense HAL libsensor folder to $android_L_root/hardware/invensense/65xx/
+	$ -> modifiy the makefile $android_L_root/hardware/invensense/Android.mk to include htc/nvidia flounder target
+
+	$ make libinvensense_hal
+	$ make sensors.flounder
+
+	$ adb push $OUT/system/lib/libmllite.so /system/lib/
+	$ adb push $OUT/system/lib/libinvensense_hal.so /system/lib/
+	$ adb push $OUT/system/lib/hw/sensors.flounder.so /system/lib/hw/
+
diff --git a/6515/libsensors_iio/SensorBase.h b/6515/libsensors_iio/SensorBase.h
index 1619958..96c9487 100755
--- a/6515/libsensors_iio/SensorBase.h
+++ b/6515/libsensors_iio/SensorBase.h
@@ -22,7 +22,7 @@
 #include <sys/cdefs.h>
 #include <sys/types.h>
 
-#if defined ANDROID_JELLYBEAN || defined ANDROID_KITKAT
+#if defined ANDROID_JELLYBEAN || defined ANDROID_KITKAT || defined ANDROID_LOLLIPOP
 //build for Jellybean or KitKat
 #define LOGV_IF ALOGV_IF
 #define LOGE_IF ALOGE_IF
@@ -46,7 +46,7 @@
 #define CALL_MEMBER_FN(pobject, ptrToMember) ((pobject)->*(ptrToMember))
 
 #define MAX_SYSFS_NAME_LEN  (100)
-#define IIO_BUFFER_LENGTH   (480)
+#define IIO_BUFFER_LENGTH   (960)
 
 /*****************************************************************************/
 
diff --git a/6515/libsensors_iio/libmllite.so b/6515/libsensors_iio/libmllite.so
index 40abcfa..6a8ae23 100644..100755
--- a/6515/libsensors_iio/libmllite.so
+++ b/6515/libsensors_iio/libmllite.so
diff --git a/6515/libsensors_iio/libmplmpu.so b/6515/libsensors_iio/libmplmpu.so
index 6f01541..189e6c8 100644..100755
--- a/6515/libsensors_iio/libmplmpu.so
+++ b/6515/libsensors_iio/libmplmpu.so
diff --git a/6515/libsensors_iio/sensor_params.h b/6515/libsensors_iio/sensor_params.h
index 28e2031..0f81d45 100755
--- a/6515/libsensors_iio/sensor_params.h
+++ b/6515/libsensors_iio/sensor_params.h
@@ -29,6 +29,11 @@
 #define COMPASS_MPU9250_RESOLUTION      (0.15f)
 #define COMPASS_MPU9250_POWER           (10.f)
 #define COMPASS_MPU9250_MINDELAY        (10000)
+//MPU9255 INV_COMPASS
+#define COMPASS_MPU9255_RANGE           (9830.f)
+#define COMPASS_MPU9255_RESOLUTION      (0.15f)
+#define COMPASS_MPU9255_POWER           (10.f)
+#define COMPASS_MPU9255_MINDELAY        (10000)
 //MPU9150 INV_COMPASS
 #define COMPASS_MPU9150_RANGE           (9830.f)
 #define COMPASS_MPU9150_RESOLUTION      (0.285f)
@@ -49,6 +54,11 @@
 #define COMPASS_AKM9911_RESOLUTION      (0.60f)
 #define COMPASS_AKM9911_POWER           (10.f)
 #define COMPASS_AKM9911_MINDELAY        (10000)
+//COMPASS_ID_AK09912C
+#define COMPASS_AKM9912_RANGE           (9830.f)
+#define COMPASS_AKM9912_RESOLUTION      (0.15f)
+#define COMPASS_AKM9912_POWER           (10.f)
+#define COMPASS_AKM9912_MINDELAY        (10000)
 //COMPASS_ID_AMI30X
 #define COMPASS_AMI30X_RANGE            (5461.f)
 #define COMPASS_AMI30X_RESOLUTION       (0.9f)
@@ -107,6 +117,11 @@
 #define ACCEL_MPU9250_RESOLUTION        (0.004f * GRAVITY_EARTH)
 #define ACCEL_MPU9250_POWER             (0.5f)
 #define ACCEL_MPU9250_MINDELAY          (5000)
+//ACCEL_ID_MPU9255
+#define ACCEL_MPU9255_RANGE             (2.f * GRAVITY_EARTH)
+#define ACCEL_MPU9255_RESOLUTION        (0.004f * GRAVITY_EARTH)
+#define ACCEL_MPU9255_POWER             (0.5f)
+#define ACCEL_MPU9255_MINDELAY          (5000)
 //ACCEL_ID_MPU9150
 #define ACCEL_MPU9150_RANGE             (2.f * GRAVITY_EARTH)
 #define ACCEL_MPU9150_RESOLUTION        (0.004f * GRAVITY_EARTH)
@@ -189,6 +204,11 @@
 #define GYRO_MPU9250_RESOLUTION         (2000.f / 32768.f * RAD_P_DEG)
 #define GYRO_MPU9250_POWER              (5.5f)
 #define GYRO_MPU9250_MINDELAY           (5000)
+//GYRO MPU9255
+#define GYRO_MPU9255_RANGE              (2000.f * RAD_P_DEG)
+#define GYRO_MPU9255_RESOLUTION         (2000.f / 32768.f * RAD_P_DEG)
+#define GYRO_MPU9255_POWER              (5.5f)
+#define GYRO_MPU9255_MINDELAY           (5000)
 //GYRO MPU6500
 #define GYRO_MPU6500_RANGE              (2000.f * RAD_P_DEG)
 #define GYRO_MPU6500_RESOLUTION         (2000.f / 32768.f * RAD_P_DEG)
diff --git a/6515/libsensors_iio/sensors.h b/6515/libsensors_iio/sensors.h
index 84263f7..e299228 100644
--- a/6515/libsensors_iio/sensors.h
+++ b/6515/libsensors_iio/sensors.h
@@ -111,7 +111,63 @@ enum {
    {    name, vendor, version, handle, type, maxRange, resolution, power, minDelay,
     fifoReservedEventCount, fifoMaxEventCount, reserved[]    }
 */
-#if defined ANDROID_KITKAT
+#if defined ANDROID_LOLLIPOP
+static struct sensor_t sBaseSensorList[] =
+{
+    {(const char *)("MPL Gyroscope"), (const char *)("Invensense"), 1,
+     SENSORS_GYROSCOPE_HANDLE,
+     SENSOR_TYPE_GYROSCOPE, 2000.0f, 1.0f, 0.5f, 10000, 0, 124, 0,0,0,0,0,0},
+    {"MPL Raw Gyroscope", "Invensense", 1,
+     SENSORS_RAW_GYROSCOPE_HANDLE,
+     SENSOR_TYPE_GYROSCOPE_UNCALIBRATED, 2000.0f, 1.0f, 0.5f, 10000, 0, 124, 0,0,0,0,0,0},
+    {"MPL Accelerometer", "Invensense", 1,
+     SENSORS_ACCELERATION_HANDLE,
+     SENSOR_TYPE_ACCELEROMETER, 10240.0f, 1.0f, 0.5f, 10000, 0, 124, 0,0,0,0,0,0},
+    {"MPL Magnetic Field", "Invensense", 1,
+     SENSORS_MAGNETIC_FIELD_HANDLE,
+     SENSOR_TYPE_MAGNETIC_FIELD, 10240.0f, 1.0f, 0.5f, 10000, 0, 124, 0,0,0,0,0,0},
+    {"MPL Raw Magnetic Field", "Invensense", 1,
+     SENSORS_RAW_MAGNETIC_FIELD_HANDLE,
+     SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED, 10240.0f, 1.0f, 0.5f, 10000, 0, 124, 0,0,0,0,0,0},
+#ifdef ENABLE_PRESSURE
+    {"MPL Pressure", "Invensense", 1,
+     SENSORS_PRESSURE_HANDLE,
+     SENSOR_TYPE_PRESSURE, 10240.0f, 1.0f, 0.5f, 10000, 0, 165, 0,0,0,0,0,0},
+#endif
+    {"MPL Orientation", "Invensense", 1,
+     SENSORS_ORIENTATION_HANDLE,
+     SENSOR_TYPE_ORIENTATION, 360.0f, 1.0f, 9.7f, 10000, 0, 0, 0,0,0,0,0,0},
+    {"MPL Rotation Vector", "Invensense", 1,
+     SENSORS_ROTATION_VECTOR_HANDLE,
+     SENSOR_TYPE_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, 0,0,0,0,0,0},
+    {"MPL Game Rotation Vector", "Invensense", 1,
+     SENSORS_GAME_ROTATION_VECTOR_HANDLE,
+     SENSOR_TYPE_GAME_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 10000, 0, 62, 0,0,0,0,0,0},
+    {"MPL Linear Acceleration", "Invensense", 1,
+     SENSORS_LINEAR_ACCEL_HANDLE,
+     SENSOR_TYPE_LINEAR_ACCELERATION, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, 0,0,0,0,0,0},
+    {"MPL Gravity", "Invensense", 1,
+     SENSORS_GRAVITY_HANDLE,
+     SENSOR_TYPE_GRAVITY, 10240.0f, 1.0f, 0.5f, 10000, 0, 0, 0,0,0,0,0,0},
+    {"MPL Significant Motion", "Invensense", 1,
+     SENSORS_SIGNIFICANT_MOTION_HANDLE,
+     SENSOR_TYPE_SIGNIFICANT_MOTION, 100.0f, 1.0f, 1.1f, 0, 0, 0, 0,0,0,0,0,0},
+    {"MPL Step Detector", "Invensense", 1,
+     SENSORS_PEDOMETER_HANDLE,
+     SENSOR_TYPE_STEP_DETECTOR, 100.0f, 1.0f, 1.1f, 0, 0, 124, 0,0,0,0,0,0},
+    {"MPL Step Counter", "Invensense", 1,
+     SENSORS_STEP_COUNTER_HANDLE,
+     SENSOR_TYPE_STEP_COUNTER, 100.0f, 1.0f, 1.1f, 0, 0, 0, 0,0,0,0,0,0},
+    {"MPL Geomagnetic Rotation Vector", "Invensense", 1,
+     SENSORS_GEOMAGNETIC_ROTATION_VECTOR_HANDLE,
+     SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR, 10240.0f, 1.0f, 0.5f, 5000, 0, 0, 0,0,0,0,0,0},
+#ifdef ENABLE_DMP_SCREEN_AUTO_ROTATION
+    {"MPL Screen Orientation", "Invensense ", 1,
+     SENSORS_SCREEN_ORIENTATION_HANDLE,
+     SENSOR_TYPE_SCREEN_ORIENTATION, 100.0f, 1.0f, 1.1f, 0, 0, 0, 0,0,0,0,0,0},
+#endif
+};
+#elif defined ANDROID_KITKAT
 static struct sensor_t sBaseSensorList[] =
 {
     {"MPL Gyroscope", "Invensense", 1, SENSORS_GYROSCOPE_HANDLE,
diff --git a/6515/libsensors_iio/sensors_mpl.cpp b/6515/libsensors_iio/sensors_mpl.cpp
index df0a97f..268b853 100755
--- a/6515/libsensors_iio/sensors_mpl.cpp
+++ b/6515/libsensors_iio/sensors_mpl.cpp
@@ -106,7 +106,7 @@ struct sensors_poll_context_t {
     int pollEvents(sensors_event_t* data, int count);
     int query(int what, int *value);
     int batch(int handle, int flags, int64_t period_ns, int64_t timeout);
-#if defined ANDROID_KITKAT
+#if defined ANDROID_KITKAT || defined ANDROID_LOLLIPOP
     int flush(int handle);
 #endif
 
@@ -340,7 +340,8 @@ int sensors_poll_context_t::batch(int handle, int flags, int64_t period_ns,
     return mSensor->batch(handle, flags, period_ns, timeout);
 }
 
-#if defined ANDROID_KITKAT
+#if defined ANDROID_KITKAT || defined ANDROID_LOLLIPOP
+
 void inv_pending_flush(int handle) {
     struct handle_entry *the_entry;
     pthread_mutex_lock(&flush_handles_mutex);
@@ -410,7 +411,7 @@ static int poll__batch(struct sensors_poll_device_1 *dev,
     return ctx->batch(handle, flags, period_ns, timeout);
 }
 
-#if defined ANDROID_KITKAT
+#if defined ANDROID_KITKAT || defined ANDROID_LOLLIPOP
 static int poll__flush(struct sensors_poll_device_1 *dev,
                       int handle)
 {
@@ -437,7 +438,7 @@ static int open_sensors(const struct hw_module_t* module, const char* id,
     memset(&dev->device, 0, sizeof(sensors_poll_device_1));
 
     dev->device.common.tag = HARDWARE_DEVICE_TAG;
-#if defined ANDROID_KITKAT
+#if defined ANDROID_KITKAT || defined ANDROID_LOLLIPOP
     dev->device.common.version  = SENSORS_DEVICE_API_VERSION_1_3;
     dev->device.flush           = poll__flush;
 #else
diff --git a/6515/libsensors_iio/software/build/android/common.mk b/6515/libsensors_iio/software/build/android/common.mk
index acd3deb..edf22a2 100644
--- a/6515/libsensors_iio/software/build/android/common.mk
+++ b/6515/libsensors_iio/software/build/android/common.mk
@@ -5,7 +5,15 @@ SHELL = /bin/bash
 ## defines
 
 # Build for Jellybean 
-BUILD_ANDROID_JELLYBEAN = $(shell test -d $(ANDROID_ROOT)/frameworks/native && echo 1)
+#--yd BUILD_ANDROID_JELLYBEAN = $(shell test -d $(ANDROID_ROOT)/frameworks/native && echo 1)
+
+# Build for Lollipop
+# ANDROID version check
+BUILD_ANDROID_LOLLIPOP = $(shell test -d $(ANDROID_ROOT)/bionic/libc/kernel/uapi && echo 1)
+#ANDROID version check END
+
+#--yd PRODUCT = generic_arm64
+#--yd TARGET = android
 
 ## libraries ##
 LIB_PREFIX = lib
@@ -18,6 +26,7 @@ SHARED_LIB_EXT = so
 TARGET ?= android
 
 MLLITE_LIB_NAME     ?= mllite
+#--yd MLLITE_LIB_NAME     ?= mllite_64
 MPL_LIB_NAME        ?= mplmpu
 
 ## applications ##
@@ -36,12 +45,22 @@ ANDROID_LINK += -fpic
 ANDROID_LINK += -Wl,--gc-sections 
 ANDROID_LINK += -Wl,--no-whole-archive 
 ANDROID_LINK += -L$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib
+ifeq ($(ARCH),arm)
 ANDROID_LINK += -L$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/system/lib
+endif
 
 ANDROID_LINK_EXECUTABLE  = $(ANDROID_LINK)
+ifeq ($(ARCH),arm64)
+ANDROID_LINK_EXECUTABLE += -Wl,-dynamic-linker,/system/bin/linker64
+else
 ANDROID_LINK_EXECUTABLE += -Wl,-dynamic-linker,/system/bin/linker
+endif
 ifneq ($(BUILD_ANDROID_JELLYBEAN),1)
-ANDROID_LINK_EXECUTABLE += -Wl,-T,$(ANDROID_ROOT)/build/core/armelf.x
+#--yd ANDROID_LINK_EXECUTABLE += -Wl,-T,$(ANDROID_ROOT)/build/core/armelf.x
+#--yd ANDROID_LINK_EXECUTABLE += -Wl,-T,$(ANDROID_ROOT)/prebuilts/gcc/linux-x86/aarch64/aarch64-linux-android-4.9/aarch64-linux-android/lib/ldscripts/armelf.x
+ifeq ($(ARCH),arm64)
+ANDROID_LINK_EXECUTABLE += -Wl,-T,$(ANDROID_ROOT)/prebuilts/gcc/linux-x86/aarch64/aarch64-linux-android-4.9/aarch64-linux-android/lib/ldscripts/aarch64linux.x
+endif
 endif
 ANDROID_LINK_EXECUTABLE += $(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib/crtbegin_dynamic.o
 ANDROID_LINK_EXECUTABLE += $(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib/crtend_android.o
@@ -54,20 +73,47 @@ ANDROID_INCLUDES += -I$(ANDROID_ROOT)/frameworks/base/include   # ICS
 ANDROID_INCLUDES += -I$(ANDROID_ROOT)/frameworks/native/include # Jellybean
 ANDROID_INCLUDES += -I$(ANDROID_ROOT)/external/skia/include
 ANDROID_INCLUDES += -I$(ANDROID_ROOT)/out/target/product/generic/obj/include
-ANDROID_INCLUDES += -I$(ANDROID_ROOT)/bionic/libc/arch-arm/include
+#--yd ANDROID_INCLUDES += -I$(ANDROID_ROOT)/bionic/libc/arch-arm/include
+
+ifeq ($(BUILD_ANDROID_LOLLIPOP),1)
+#for Android L--yd
+ANDROID_INCLUDES += -DHAVE_SYS_UIO_H
+ANDROID_INCLUDES += -I$(ANDROID_ROOT)/bionic/libc/kernel/uapi #LP
+ifeq ($(ARCH),arm64)
+ANDROID_INCLUDES += -I$(ANDROID_ROOT)/bionic/libc/kernel/uapi/asm-arm64 #LP
+else
+ANDROID_INCLUDES += -I$(ANDROID_ROOT)/bionic/libc/kernel/uapi/asm-arm #LP
+endif
+endif
+$(info YD>>>TARGET_ARCH=$(TARGET_ARCH), ARCH=$(ARCH))
+#--yd ANDROID_INCLUDES += -I$(ANDROID_ROOT)/bionic/libc/arch-arm64/include
+ANDROID_INCLUDES += -I$(ANDROID_ROOT)/bionic/libc/arch-$(ARCH)/include
 ANDROID_INCLUDES += -I$(ANDROID_ROOT)/bionic/libc/include
 ANDROID_INCLUDES += -I$(ANDROID_ROOT)/bionic/libstdc++/include
 ANDROID_INCLUDES += -I$(ANDROID_ROOT)/bionic/libc/kernel/common
-ANDROID_INCLUDES += -I$(ANDROID_ROOT)/bionic/libc/kernel/arch-arm
+#--yd ANDROID_INCLUDES += -I$(ANDROID_ROOT)/bionic/libc/kernel/arch-arm64
+ANDROID_INCLUDES += -I$(ANDROID_ROOT)/bionic/libc/kernel/arch-$(ARCH)
 ANDROID_INCLUDES += -I$(ANDROID_ROOT)/bionic/libm/include
-ANDROID_INCLUDES += -I$(ANDROID_ROOT)/bionic/libm/include/arch/arm
+#--yd ANDROID_INCLUDES += -I$(ANDROID_ROOT)/bionic/libm/include/arch/arm64
+ANDROID_INCLUDES += -I$(ANDROID_ROOT)/bionic/libm/include/arch/$(ARCH)
 ANDROID_INCLUDES += -I$(ANDROID_ROOT)/bionic/libthread_db/include
-ANDROID_INCLUDES += -I$(ANDROID_ROOT)/bionic/libm/arm
+#--yd ANDROID_INCLUDES += -I$(ANDROID_ROOT)/bionic/libm/arm64
+ANDROID_INCLUDES += -I$(ANDROID_ROOT)/bionic/libm/$(ARCH)
 ANDROID_INCLUDES += -I$(ANDROID_ROOT)/bionic/libm
+
 ANDROID_INCLUDES += -I$(ANDROID_ROOT)/out/target/product/generic/obj/SHARED_LIBRARIES/libm_intermediates
+#--yd #for Android L--yd
+#--yd ANDROID_INCLUDES += -DHAVE_SYS_UIO_H
+
 
 KERNEL_INCLUDES  = -I$(KERNEL_ROOT)/include
 
+ifeq ($(ARCH),arm)
+KERNEL_INCLUDES  += -I$(KERNEL_ROOT)/arch/arm/include -I$(KERNEL_ROOT)/arch/arm/include/generated
+endif
+
+#--yd KERNEL_INCLUDES  = -I$(KERNEL_ROOT)/include -I$(KERNEL_ROOT)/include/uapi -I$(KERNEL_ROOT)/arch/arm64/include -I$(KERNEL_ROOT)/arch/arm64/include/generated -I$(KERNEL_ROOT)/arch/arm64/include/uapi
+
 INV_INCLUDES  = -I$(INV_ROOT)/software/core/driver/include
 INV_INCLUDES += -I$(MLLITE_DIR)
 INV_INCLUDES += -I$(MLLITE_DIR)/linux
diff --git a/6515/libsensors_iio/software/core/driver/include/log.h b/6515/libsensors_iio/software/core/driver/include/log.h
index 626b00e..651a22c 100644
--- a/6515/libsensors_iio/software/core/driver/include/log.h
+++ b/6515/libsensors_iio/software/core/driver/include/log.h
@@ -56,6 +56,11 @@
 extern "C" {
 #endif
 
+#if defined ANDROID_LOLLIPOP
+//--yd
+#define LOG ALOG
+#endif
+
 #if defined ANDROID_JELLYBEAN || defined ANDROID_KITKAT
 #define LOG ALOG
 #define LOG_ERRROR ANDROID_LOG_ERROR
@@ -89,6 +94,18 @@ extern "C" {
 #else
 	/* Based off the log priorities in android
 	   /system/core/include/android/log.h */
+#if defined ANDROID_LOLLIPOP
+//--yd
+#define MPL_LOG_UNKNOWN		LOG_UNKNOWN
+#define MPL_LOG_DEFAULT		LOG_DEFAULT
+#define MPL_LOG_VERBOSE		LOG_VERBOSE
+#define MPL_LOG_DEBUG		LOG_DEBUG
+#define MPL_LOG_INFO		LOG_INFO
+#define MPL_LOG_WARN		LOG_WARN
+#define MPL_LOG_ERROR		LOG_ERROR
+//--yd #define MPL_LOG_FATAL		LOG_FATAL
+#define MPL_LOG_SILENT		LOG_SILENT
+#else
 #define MPL_LOG_UNKNOWN		(0)
 #define MPL_LOG_DEFAULT		(1)
 #define MPL_LOG_VERBOSE		(2)
@@ -98,6 +115,7 @@ extern "C" {
 #define MPL_LOG_ERROR		(6)
 #define MPL_LOG_SILENT		(8)
 #endif
+#endif
 
 
 /*
@@ -129,17 +147,30 @@ extern "C" {
             __pragma (warning(suppress : 4127 )) \
     } while (0)
 #else
+#if defined ANDROID_LOLLIPOP
+//--yd
+#define MPL_LOGV(fmt, ...)						\
+	do {								\
+		if (0)							\
+			MPL_LOG(MPL_LOG_VERBOSE, MPL_LOG_TAG, fmt, ##__VA_ARGS__);\
+    } while (0)
+#else
 #define MPL_LOGV(fmt, ...)						\
 	do {								\
 		if (0)							\
 			MPL_LOG(LOG_VERBOSE, MPL_LOG_TAG, fmt, ##__VA_ARGS__);\
     } while (0)
 #endif
-
+#endif
+#else
+#if defined ANDROID_LOLLIPOP
+//--yd
+#define MPL_LOGV(fmt, ...) MPL_LOG(MPL_LOG_VERBOSE, MPL_LOG_TAG, fmt, ##__VA_ARGS__)
 #else
 #define MPL_LOGV(fmt, ...) MPL_LOG(LOG_VERBOSE, MPL_LOG_TAG, fmt, ##__VA_ARGS__)
 #endif
 #endif
+#endif
 
 #ifndef CONDITION
 #define CONDITION(cond)     ((cond) != 0)
@@ -161,8 +192,13 @@ extern "C" {
  * Simplified macro to send a debug log message using the current MPL_LOG_TAG.
  */
 #ifndef MPL_LOGD
+#if defined ANDROID_LOLLIPOP
+//--yd
+#define MPL_LOGD(fmt, ...) MPL_LOG(MPL_LOG_DEBUG, MPL_LOG_TAG, fmt, ##__VA_ARGS__)
+#else
 #define MPL_LOGD(fmt, ...) MPL_LOG(LOG_DEBUG, MPL_LOG_TAG, fmt, ##__VA_ARGS__)
 #endif
+#endif
 
 #ifndef MPL_LOGD_IF
 #define MPL_LOGD_IF(cond, fmt, ...) \
@@ -178,9 +214,14 @@ extern "C" {
 #ifdef __KERNEL__
 #define MPL_LOGI(fmt, ...) pr_info(KERN_INFO MPL_LOG_TAG fmt, ##__VA_ARGS__)
 #else
+#if defined ANDROID_LOLLIPOP
+//--yd
+#define MPL_LOGI(fmt, ...) MPL_LOG(MPL_LOG_INFO, MPL_LOG_TAG, fmt, ##__VA_ARGS__)
+#else
 #define MPL_LOGI(fmt, ...) MPL_LOG(LOG_INFO, MPL_LOG_TAG, fmt, ##__VA_ARGS__)
 #endif
 #endif
+#endif
 
 #ifndef MPL_LOGI_IF
 #define MPL_LOGI_IF(cond, fmt, ...) \
@@ -214,16 +255,29 @@ extern "C" {
 #ifdef __KERNEL__
 #define MPL_LOGE(fmt, ...) printk(KERN_ERR MPL_LOG_TAG fmt, ##__VA_ARGS__)
 #else
+#if defined ANDROID_LOLLIPOP
+//--yd
+#define MPL_LOGE(fmt, ...) MPL_LOG(MPL_LOG_ERROR, MPL_LOG_TAG, fmt, ##__VA_ARGS__)
+#else
 #define MPL_LOGE(fmt, ...) MPL_LOG(LOG_ERROR, MPL_LOG_TAG, fmt, ##__VA_ARGS__)
 #endif
 #endif
+#endif
 
 #ifndef MPL_LOGE_IF
+#if defined ANDROID_LOLLIPOP
+//--yd
+#define MPL_LOGE_IF(cond, fmt, ...) \
+	((CONDITION(cond))					       \
+		? MPL_LOG(MPL_LOG_ERROR, MPL_LOG_TAG, fmt, ##__VA_ARGS__)  \
+		: (void)0)
+#else
 #define MPL_LOGE_IF(cond, fmt, ...) \
 	((CONDITION(cond))					       \
 		? MPL_LOG(LOG_ERROR, MPL_LOG_TAG, fmt, ##__VA_ARGS__)  \
 		: (void)0)
 #endif
+#endif
 
 /* --------------------------------------------------------------------- */
 
diff --git a/6515/libsensors_iio/software/core/mllite/build/android/shared.mk b/6515/libsensors_iio/software/core/mllite/build/android/shared.mk
index 1418450..4872315 100644
--- a/6515/libsensors_iio/software/core/mllite/build/android/shared.mk
+++ b/6515/libsensors_iio/software/core/mllite/build/android/shared.mk
@@ -3,6 +3,17 @@ LIBRARY = $(LIB_PREFIX)$(MLLITE_LIB_NAME).$(SHARED_LIB_EXT)
 
 MK_NAME = $(notdir $(CURDIR)/$(firstword $(MAKEFILE_LIST)))
 
+# ANDROID version check
+BUILD_ANDROID_LOLLIPOP = $(shell test -d $(ANDROID_ROOT)/bionic/libc/kernel/uapi && echo 1)
+$(info YD>>BUILD_ANDROID_LOLLIPOP = $(BUILD_ANDROID_LOLLIPOP))
+#ANDROID version check END
+
+ifeq ($(BUILD_ANDROID_LOLLIPOP),1)
+CFLAGS += -DANDROID_LOLLIPOP
+else
+CFLAGS += -DANDROID_KITKAT
+endif
+
 CROSS ?= $(ANDROID_ROOT)/prebuilt/linux-x86/toolchain/arm-eabi-4.4.0/bin/arm-eabi-
 COMP  ?= $(CROSS)gcc
 LINK  ?= $(CROSS)gcc 
@@ -23,7 +34,9 @@ CFLAGS += -DNDEBUG
 CFLAGS += -D_REENTRANT
 CFLAGS += -DLINUX
 CFLAGS += -DANDROID
+ifeq ($(ARCH),arm)
 CFLAGS += -mthumb-interwork
+endif
 CFLAGS += -fno-exceptions
 CFLAGS += -ffunction-sections
 CFLAGS += -funwind-tables
@@ -47,7 +60,11 @@ LFLAGS += -shared
 LFLAGS += -Wl,-soname,$(LIBRARY)
 LFLAGS += -Wl,-shared,-Bsymbolic
 LFLAGS += $(ANDROID_LINK)
+ifeq ($(ARCH),arm64)
+LFLAGS += -Wl,-rpath,$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib
+else
 LFLAGS += -Wl,-rpath,$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib:$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/system/lib
+endif
 
 ####################################################################################################
 ## sources
diff --git a/6515/libsensors_iio/software/core/mllite/linux/ml_load_dmp.c b/6515/libsensors_iio/software/core/mllite/linux/ml_load_dmp.c
index 960bd2e..12d13dd 100644
--- a/6515/libsensors_iio/software/core/mllite/linux/ml_load_dmp.c
+++ b/6515/libsensors_iio/software/core/mllite/linux/ml_load_dmp.c
@@ -32,7 +32,7 @@
 #define NUM_LOCAL_KEYS (sizeof(dmpTConfig)/sizeof(dmpTConfig[0]))
 #define NUM_LOCAL_KEYS (sizeof(dmpTConfig)/sizeof(dmpTConfig[0]))
 #define NUM_LOCAL_KEYS (sizeof(dmpTConfig)/sizeof(dmpTConfig[0]))
-#define DMP_CODE_SIZE 2943
+#define DMP_CODE_SIZE 3035
 #define FIFO_SIZE     1024
 #define RESERVED_SIZE 32
 #define MEMORY_SIZE   1024*4
@@ -42,203 +42,209 @@
 #endif
 
 static const unsigned char dmpMemory[DMP_CODE_SIZE] = {
-    /* bank # 0 */
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x01, 0x0b, 0x10, 0xe4, 0x00, 0x00, 0x00, 0x00, 0x00, 0x50, 0x00, 0x0a,
-    0x06, 0xb8, 0x81, 0xa1, 0xe1, 0x89, 0xb2, 0x78, 0x37, 0xf8, 0x5a, 0x9c, 0xcf, 0xdd, 0x85, 0x3b,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x01, 0xf0, 0x19, 0x80, 0x40, 0x00, 0x00, 0x00, 0x02, 0xca, 0xe3, 0x09, 0x3e, 0x80, 0x00, 0x00,
-    0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00,
-    0x00, 0x0c, 0x00, 0x00, 0x00, 0x0c, 0x18, 0x6e, 0x00, 0x00, 0x06, 0x92, 0x0a, 0x16, 0xc0, 0xdf,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x07,
-    0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0x0b, 0x2b, 0x00, 0x00, 0x16, 0x57, 0x00, 0x00, 0x03, 0x59,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1d, 0xfa, 0x00, 0x02, 0x6c, 0x1d, 0x36, 0x66, 0x66, 0x66,
-    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x1f, 0xdb, 0xe2, 0xb9, 0x3b, 0x7b, 0x11, 0x7b, 0x32, 0x57, 0x83, 0x7b,
-    /* bank # 1 */
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x51, 0xeb, 0x85, 0x3f, 0xae, 0x14, 0x7b,
-    0x00, 0x28, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x10, 0x72, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xc8, 0xff, 0xff, 0x00, 0x01, 0x00, 0x06, 0x00, 0x01,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x58, 0x05, 0xdc, 0x00, 0x00, 0x00, 0x00, 0x00, 0xc8,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x03, 0x00, 0x00, 0x00, 0xff,
-    0x08, 0x00, 0x02, 0x00, 0x04, 0x00, 0x01, 0x00, 0x80, 0x00, 0x10, 0x00, 0x20, 0x00, 0x40, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xb2, 0x6a, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    /* bank # 2 */
-    0x00, 0x00, 0x00, 0x00, 0x01, 0x47, 0xae, 0x14, 0x3e, 0xb8, 0x51, 0xec, 0x00, 0x0f, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x14, 0x00, 0x28, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x06, 0x74, 0xaa, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x0e, 0x41, 0x28, 0x14, 0xc5, 0xaf, 0x3e, 0xf2, 0x59, 0xd9, 0x4a, 0x5f, 0xc2, 0x36, 0xd9, 0x51,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0x00, 0x05, 0x00, 0x05, 0x00, 0x05,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x1b, 0x00, 0x00, 0x00, 0xd9, 0xe8, 0x3e, 0x30, 0x00, 0x00, 0x00, 0x28, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0x00, 0x05, 0x00, 0x05, 0x00, 0x05,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0x00, 0x05, 0x00, 0x05, 0x00, 0x05,
-    0xff, 0xe5, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    /* bank # 3 */
-    0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x01, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x18, 0x74, 0x70,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0x00, 0x10, 0x00, 0x96, 0x00, 0x3c,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x0c, 0xb3, 0x12, 0xb4, 0xcc, 0x0f, 0x1e, 0x1b, 0x51, 0xa0, 0xa3, 0x45, 0xc5, 0xad, 0x1e, 0x16,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x08,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x3c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x03, 0x18, 0x85, 0x00, 0x00, 0x40, 0x00,
-    0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-    0x00, 0x00, 0x00, 0x00, 0x67, 0x7d, 0xdf, 0x7e, 0x72, 0x90, 0x2e, 0x55, 0x4c, 0xf6, 0xe6, 0x88,
-    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
-
-    /* bank # 4 */
-    0xd8, 0xb0, 0xb5, 0xb9, 0xf3, 0xa6, 0xf8, 0xf9, 0xd1, 0xd9, 0x81, 0x96, 0xf8, 0xf7, 0x3e, 0xd8,
-    0xf3, 0xb1, 0x86, 0x96, 0xa3, 0x31, 0xd1, 0xda, 0xf1, 0xff, 0xd8, 0xb9, 0xb1, 0xb4, 0xa7, 0x87,
-    0x9d, 0xd0, 0xf7, 0x4a, 0xf3, 0x40, 0xb8, 0xb0, 0xf7, 0xa8, 0x8d, 0x91, 0x6a, 0x8d, 0x90, 0x5f,
-    0x98, 0x4a, 0xb9, 0xf2, 0xa6, 0xd0, 0xf8, 0xf9, 0xd1, 0xd9, 0xf4, 0x07, 0xd8, 0xf3, 0xb8, 0xa8,
-    0xf9, 0xdb, 0xfb, 0xf7, 0xb9, 0xb1, 0xa7, 0x87, 0x9d, 0xd0, 0x4a, 0xd8, 0xb3, 0xb7, 0xbb, 0x8e,
-    0x9e, 0xae, 0xf1, 0x32, 0xf5, 0x1b, 0xf1, 0xb4, 0xb8, 0xb0, 0x80, 0x97, 0xf1, 0xa9, 0xdf, 0xdf,
-    0xdf, 0xaa, 0xdf, 0xdf, 0xdf, 0xf2, 0xaa, 0xc5, 0xcd, 0xc7, 0xa9, 0x0c, 0xc9, 0x2c, 0x97, 0xf1,
-    0xa9, 0x89, 0x26, 0x46, 0x66, 0xb2, 0x89, 0x99, 0xa9, 0x2d, 0x55, 0x7d, 0xb0, 0x8a, 0xa8, 0x96,
-    0x36, 0x56, 0x76, 0xd8, 0xf1, 0xb0, 0x89, 0xb9, 0xa3, 0xc3, 0xc5, 0xc7, 0xb1, 0x81, 0xb4, 0x97,
-    0xa3, 0x11, 0xb5, 0x93, 0xa1, 0xf0, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xf1, 0x93, 0x81, 0xa3,
-    0x2d, 0x55, 0x3d, 0xf2, 0xa6, 0xfa, 0xf9, 0xd1, 0xd9, 0xf8, 0xf1, 0x83, 0xa2, 0xc3, 0xc5, 0xc7,
-    0xd8, 0xf3, 0xa2, 0xde, 0xf1, 0x82, 0x93, 0xa3, 0x2d, 0x55, 0x7d, 0x83, 0x95, 0xf5, 0xa3, 0x30,
-    0xd9, 0xf3, 0xa2, 0xf8, 0xd8, 0xf5, 0xa3, 0x50, 0xd9, 0xf3, 0xa2, 0xf8, 0xd8, 0xf5, 0xa3, 0x70,
-    0xd9, 0xf3, 0xa2, 0xf8, 0xd8, 0xf2, 0xb9, 0xa2, 0xf8, 0xf9, 0xd1, 0xd9, 0xa6, 0xde, 0xdf, 0xf4,
-    0x1c, 0xd8, 0xf2, 0xa6, 0xf8, 0xf9, 0xd1, 0xd9, 0xf4, 0x14, 0xd8, 0xf2, 0xf9, 0xd1, 0xd9, 0xf8,
-    0xf4, 0x1e, 0xd8, 0xf2, 0xf9, 0xd1, 0xd9, 0xf8, 0xf8, 0xf4, 0x14, 0xd8, 0xf4, 0x10, 0xd8, 0xf3,
-    /* bank # 5 */
-    0xa2, 0xf8, 0xf9, 0xd1, 0xda, 0xf2, 0xa6, 0xf8, 0xf1, 0xa5, 0xde, 0xd8, 0xf4, 0xa3, 0x14, 0x14,
-    0xd8, 0xf1, 0xa5, 0xf8, 0xa3, 0x85, 0x95, 0x09, 0xd9, 0xf1, 0xa5, 0xde, 0xf2, 0xa6, 0xf8, 0xdf,
-    0xd8, 0xf4, 0xa3, 0x09, 0xd8, 0xf3, 0xa2, 0xf8, 0xf9, 0xd1, 0xf4, 0xd9, 0x08, 0x17, 0xda, 0x42,
-    0xf2, 0xa2, 0xde, 0xf4, 0x0b, 0xd8, 0xf1, 0xa5, 0xf8, 0xa3, 0x85, 0x95, 0x19, 0xda, 0xf4, 0x05,
-    0xd8, 0xf2, 0xa6, 0xde, 0xdf, 0xd8, 0xf1, 0xb8, 0xaa, 0xb3, 0x8d, 0xb4, 0x98, 0x0d, 0x35, 0x5d,
-    0xb2, 0xb6, 0xba, 0xaf, 0x8c, 0x96, 0x19, 0x8f, 0x9f, 0xb8, 0xa8, 0x0e, 0x16, 0x1e, 0xb4, 0x9a,
-    0xaa, 0x88, 0x2c, 0x54, 0x7c, 0xd8, 0xf1, 0xb8, 0xb4, 0xb0, 0x97, 0x86, 0xa8, 0x31, 0x9b, 0x06,
-    0x99, 0x07, 0xab, 0x97, 0x28, 0x88, 0x9b, 0xf0, 0x0c, 0x20, 0x14, 0x40, 0xb0, 0xb4, 0xb8, 0xf0,
-    0xa8, 0x8a, 0x9a, 0x28, 0x50, 0x78, 0xb7, 0x9b, 0xa8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44,
-    0x69, 0x38, 0x64, 0x48, 0x31, 0xf1, 0xbb, 0xab, 0x88, 0x00, 0x2c, 0x54, 0x7c, 0xf0, 0xb3, 0x8b,
-    0xb8, 0xa8, 0x04, 0x28, 0x50, 0x78, 0xf1, 0xb0, 0x88, 0xb4, 0x97, 0x26, 0xa8, 0x59, 0x98, 0xbb,
-    0xab, 0xb3, 0x8b, 0x02, 0x26, 0x46, 0x66, 0xb0, 0xb8, 0xf0, 0x8a, 0x9c, 0xa8, 0x29, 0x51, 0x79,
-    0x8b, 0x29, 0x51, 0x8a, 0x24, 0x70, 0x59, 0x8b, 0x20, 0x58, 0x8a, 0x44, 0x69, 0x38, 0x8b, 0x39,
-    0x40, 0x8a, 0x64, 0x48, 0x31, 0x8b, 0x30, 0x49, 0x88, 0xf1, 0xac, 0x00, 0x2c, 0x54, 0x7c, 0xf0,
-    0x8c, 0xa8, 0x04, 0x28, 0x50, 0x78, 0xf1, 0x88, 0x97, 0x26, 0xa8, 0x59, 0x98, 0xac, 0x8c, 0x02,
-    0x26, 0x46, 0x66, 0xf0, 0x89, 0x9c, 0xa8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38,
-    /* bank # 6 */
-    0x64, 0x48, 0x31, 0xa9, 0x88, 0x09, 0x20, 0x59, 0x70, 0xab, 0x11, 0x38, 0x40, 0x69, 0xa8, 0x19,
-    0x31, 0x48, 0x60, 0x8c, 0xa8, 0x3c, 0x41, 0x5c, 0x20, 0x7c, 0x00, 0xf1, 0x87, 0x98, 0x19, 0x86,
-    0xa8, 0x6e, 0x76, 0x7e, 0xa9, 0x99, 0x88, 0x2d, 0x55, 0x7d, 0xd8, 0xf1, 0xb3, 0x8b, 0xb4, 0x97,
-    0xbb, 0xab, 0xf8, 0xf9, 0xb9, 0xa3, 0xda, 0xc3, 0xc5, 0xc7, 0xd9, 0x2d, 0x4d, 0x6d, 0xd8, 0xb0,
-    0x8c, 0xb8, 0xac, 0xf8, 0xf9, 0xa8, 0xda, 0xc3, 0xc5, 0xc7, 0xd9, 0x2d, 0x4d, 0x6d, 0xd8, 0xf3,
-    0xb9, 0xac, 0xde, 0xd8, 0xb1, 0xb6, 0xb9, 0xf1, 0xa8, 0xf8, 0xf3, 0xb9, 0xaa, 0xfa, 0xf9, 0xd1,
-    0xda, 0xf2, 0x8a, 0xca, 0xf4, 0x0e, 0xf3, 0xb1, 0x87, 0xdd, 0xc2, 0xc2, 0xf1, 0x8c, 0xc4, 0xdc,
-    0xf3, 0xb9, 0xac, 0xf8, 0xd8, 0xf2, 0xb2, 0xb6, 0xba, 0xad, 0xfa, 0x8d, 0x9d, 0xab, 0x39, 0xd9,
-    0xad, 0xdf, 0xf4, 0x13, 0xdd, 0xf2, 0xb1, 0x87, 0xb5, 0x9a, 0x08, 0x08, 0xf1, 0xb1, 0x83, 0xc2,
-    0xc4, 0xc6, 0xdc, 0xf3, 0xb9, 0xac, 0xf8, 0xd8, 0xf3, 0xb2, 0xb6, 0xba, 0xad, 0xf8, 0x8d, 0x9d,
-    0xab, 0x11, 0xd9, 0xad, 0xde, 0xf4, 0x13, 0xdd, 0xf2, 0xb1, 0x87, 0xb5, 0x9a, 0x28, 0x28, 0xf1,
-    0xb0, 0x88, 0xc2, 0xc4, 0xc6, 0xdc, 0xf3, 0xb9, 0xac, 0xf8, 0xd8, 0xf3, 0xb2, 0xb6, 0xba, 0xad,
-    0xfa, 0x8d, 0x9d, 0xab, 0x39, 0xd9, 0xad, 0xdf, 0xf4, 0x12, 0xdd, 0xf3, 0xb1, 0x87, 0xb5, 0x9a,
-    0x08, 0xf2, 0xf2, 0x88, 0xc2, 0xc4, 0xc6, 0xdc, 0xf3, 0xb9, 0xac, 0xf8, 0xd8, 0xf2, 0xb2, 0xb6,
-    0xba, 0xae, 0xf8, 0x8e, 0x9e, 0xab, 0x11, 0xd9, 0xae, 0xde, 0xf4, 0x12, 0xdd, 0xf3, 0xb1, 0x87,
-    0xb5, 0x9a, 0x68, 0xf2, 0xb0, 0x80, 0xc0, 0xc8, 0xc2, 0xdc, 0xf3, 0xb9, 0xac, 0xf8, 0xd8, 0xf2,
-    /* bank # 7 */
-    0xb2, 0xb6, 0xba, 0xae, 0xfa, 0x8e, 0x9e, 0xab, 0x39, 0xd9, 0xae, 0xdf, 0xf4, 0x12, 0xdd, 0xf2,
-    0xb1, 0x87, 0xb5, 0x9a, 0x68, 0xf2, 0xb0, 0x80, 0xc4, 0xcc, 0xc6, 0xdc, 0xf3, 0xb9, 0xac, 0xf8,
-    0xd8, 0xf3, 0xb2, 0xb6, 0xba, 0xae, 0xf8, 0x8e, 0x9e, 0xab, 0x11, 0xd9, 0xae, 0xde, 0xf4, 0x12,
-    0xdd, 0xf3, 0xb1, 0x87, 0xb5, 0x9a, 0x48, 0xf2, 0xb0, 0x81, 0xc0, 0xc8, 0xc2, 0xdc, 0xf3, 0xb9,
-    0xac, 0xf8, 0xd8, 0xf3, 0xb2, 0xb6, 0xba, 0xae, 0xfa, 0x8e, 0x9e, 0xab, 0x39, 0xd9, 0xae, 0xdf,
-    0xf4, 0x12, 0xdd, 0xf2, 0xb1, 0x87, 0xb5, 0x9a, 0x48, 0xf2, 0xb0, 0x81, 0xc4, 0xcc, 0xc6, 0xdc,
-    0xf3, 0xb9, 0xac, 0xf8, 0xd8, 0xf2, 0xb0, 0x88, 0xb9, 0xa8, 0xc3, 0xc5, 0xc7, 0xb1, 0xb5, 0xb9,
-    0xf3, 0xac, 0xfa, 0xf9, 0xd1, 0xda, 0xf4, 0x10, 0xd8, 0xf3, 0xac, 0xf8, 0xf9, 0xd1, 0xda, 0xf1,
-    0xb9, 0xaa, 0xdf, 0xf4, 0x1c, 0xd9, 0xf4, 0x1a, 0xd8, 0xf3, 0xac, 0xf8, 0xf9, 0xd1, 0xd9, 0xf4,
-    0x1d, 0xd8, 0xf2, 0x8c, 0xac, 0xf8, 0xf9, 0xd1, 0xd9, 0xc2, 0xd8, 0xf2, 0xf9, 0xd9, 0xde, 0xf4,
-    0x09, 0x1d, 0x16, 0xda, 0xf2, 0xdd, 0xc6, 0xdc, 0xf4, 0x30, 0xf1, 0xb9, 0xaa, 0xdf, 0xd8, 0xf1,
-    0xab, 0xfa, 0x8b, 0x9b, 0xa3, 0x69, 0xd9, 0xf4, 0x07, 0x06, 0xda, 0xf1, 0xb9, 0xab, 0xdf, 0xfe,
-    0xd8, 0xf1, 0xbb, 0xb3, 0xb7, 0xaa, 0xf9, 0xda, 0xff, 0xd9, 0x80, 0x9a, 0xaa, 0x28, 0xb4, 0x80,
-    0x98, 0xa7, 0x20, 0xd8, 0xb7, 0x87, 0xaa, 0xd0, 0xc1, 0xa7, 0x81, 0x97, 0x62, 0x93, 0xf0, 0x71,
-    0x71, 0x60, 0x85, 0x94, 0x01, 0x29, 0x51, 0x79, 0x90, 0xa5, 0xf1, 0x28, 0x4c, 0x6c, 0x87, 0x0c,
-    0x95, 0x18, 0x85, 0x78, 0xb0, 0xb4, 0xb8, 0x87, 0x98, 0xaf, 0x20, 0x83, 0x9f, 0x22, 0xb7, 0x93,
-    /* bank # 8 */
-    0xf0, 0x31, 0x31, 0x20, 0x8e, 0xb4, 0x94, 0x01, 0x29, 0x51, 0x79, 0x97, 0xae, 0xf1, 0x28, 0x4c,
-    0x6c, 0x8f, 0x0c, 0x9e, 0x18, 0x8e, 0x78, 0x87, 0x98, 0xaf, 0x20, 0x83, 0x9f, 0x22, 0xb7, 0x93,
-    0xf0, 0x31, 0x31, 0x20, 0xb2, 0x81, 0xb4, 0x94, 0x01, 0x9f, 0x29, 0x51, 0x79, 0x97, 0xba, 0xa1,
-    0xf1, 0x28, 0x4c, 0x6c, 0xb0, 0x8f, 0x0c, 0xb6, 0x91, 0x18, 0xb2, 0x81, 0x78, 0xb0, 0x87, 0xb4,
-    0x98, 0xba, 0xab, 0x20, 0xb2, 0x86, 0xb6, 0x9b, 0x02, 0xb7, 0x93, 0xf0, 0x11, 0x11, 0x00, 0x84,
-    0xb6, 0x97, 0x01, 0x29, 0x51, 0x79, 0xb4, 0x97, 0xa4, 0xf1, 0x28, 0x4c, 0x6c, 0x8b, 0x0c, 0xb6,
-    0x94, 0x18, 0xb2, 0x84, 0x78, 0xbb, 0xa3, 0xb3, 0x83, 0xb7, 0x90, 0x28, 0x4c, 0x6c, 0x8a, 0x6c,
-    0xf2, 0xb0, 0x83, 0xb4, 0x93, 0xb8, 0xa3, 0x71, 0xd9, 0xd0, 0xf8, 0xf5, 0x8e, 0x9e, 0xb9, 0xa3,
-    0x78, 0xf1, 0xb1, 0x8a, 0xb5, 0x93, 0x45, 0xb2, 0x8c, 0x2e, 0xb1, 0x8a, 0x54, 0x83, 0xaa, 0xd0,
-    0xc6, 0xf5, 0xb2, 0x81, 0xb6, 0x91, 0xa3, 0x78, 0xf1, 0xb1, 0x8a, 0xb5, 0x93, 0x65, 0xb2, 0x8c,
-    0x2e, 0xb1, 0x8a, 0x74, 0x83, 0xaa, 0xd0, 0xc7, 0xd8, 0xf2, 0xb0, 0x83, 0xb8, 0xaf, 0xc6, 0xf9,
-    0xa3, 0xb4, 0x9f, 0x41, 0xd9, 0xf1, 0xb1, 0x8a, 0xba, 0xa6, 0xc5, 0xc7, 0xb2, 0xb6, 0xb9, 0x86,
-    0x96, 0xa3, 0x50, 0xb1, 0x83, 0xb5, 0x93, 0x04, 0x2c, 0xf3, 0xb8, 0xa3, 0xd0, 0xf8, 0xf9, 0xd1,
-    0xdb, 0xf1, 0xb6, 0x9c, 0xb9, 0xa3, 0xd0, 0x56, 0xd8, 0xf2, 0xb0, 0x83, 0xb4, 0x9f, 0xb8, 0xa3,
-    0x41, 0xdb, 0xf3, 0x97, 0x49, 0xf1, 0xb1, 0x83, 0xb6, 0x9c, 0xb9, 0xa3, 0xd0, 0x5e, 0xd8, 0xf2,
-    0xb0, 0x83, 0xb8, 0xa3, 0xb4, 0x9f, 0x41, 0xd9, 0xf3, 0xa3, 0xd0, 0xde, 0xf8, 0xf1, 0xb1, 0x83,
-    /* bank # 9 */
-    0xb6, 0x96, 0xb9, 0xa3, 0xdb, 0x69, 0xf3, 0xb8, 0xa3, 0xd0, 0xde, 0xf1, 0xb3, 0x86, 0xba, 0xa0,
-    0xc0, 0xd8, 0xf2, 0xb0, 0x83, 0xb8, 0xa3, 0xb4, 0x9f, 0x41, 0xd9, 0xd0, 0xde, 0xd8, 0xf3, 0xbb,
-    0xb3, 0xb7, 0x90, 0xa2, 0x82, 0x00, 0xf2, 0x10, 0xf1, 0xb2, 0x82, 0xb5, 0x9b, 0xba, 0xa2, 0xd0,
-    0x64, 0xf2, 0xb3, 0x82, 0xab, 0xc2, 0xf8, 0xf9, 0xd1, 0xf1, 0xb9, 0xa4, 0xd9, 0xde, 0xda, 0xf8,
-    0xd8, 0xf2, 0xbb, 0xaf, 0x80, 0xb7, 0x92, 0x50, 0x8f, 0x0d, 0xdb, 0xf1, 0xb1, 0x84, 0xb5, 0x94,
-    0x21, 0xd9, 0xf5, 0xb3, 0x85, 0xb7, 0x95, 0xb9, 0xa3, 0x78, 0xf1, 0xb1, 0x80, 0xb5, 0x90, 0xa0,
-    0x1a, 0xf0, 0x93, 0x40, 0xf5, 0xb2, 0x84, 0xb6, 0x94, 0xa3, 0x78, 0xf1, 0xb1, 0x80, 0xb5, 0x90,
-    0xa0, 0x3e, 0xf0, 0x93, 0x40, 0xd8, 0xf1, 0xb9, 0xa3, 0xd0, 0xdf, 0xb0, 0x8b, 0xb5, 0x90, 0xb9,
-    0xa3, 0x6a, 0xb1, 0x80, 0x93, 0x05, 0xd9, 0xd0, 0xf8, 0xd8, 0xf2, 0xb3, 0x80, 0xb7, 0x92, 0xbb,
-    0xaf, 0x50, 0xf8, 0x8f, 0x0d, 0xdb, 0xf1, 0xb1, 0x84, 0xb5, 0x94, 0xb9, 0xa3, 0x21, 0xd0, 0xfa,
-    0xd8, 0xf1, 0xb9, 0xa3, 0xd0, 0xfa, 0xf9, 0xd1, 0xd9, 0xf1, 0xb2, 0x84, 0xbb, 0xa8, 0xd0, 0xc4,
-    0xc7, 0xf3, 0xb9, 0xa4, 0xd0, 0xde, 0xda, 0xf1, 0xb3, 0x85, 0xbb, 0xa8, 0xd0, 0xc4, 0xc7, 0xf3,
-    0xb9, 0xa4, 0xd0, 0xde, 0xf8, 0xdf, 0xf8, 0xd8, 0xf3, 0xb1, 0x84, 0xb7, 0x90, 0xb9, 0xa3, 0x69,
-    0xdb, 0xb3, 0x80, 0xb5, 0x94, 0x11, 0xd9, 0xf2, 0xa4, 0xd0, 0xde, 0xd8, 0xf2, 0xbb, 0xaf, 0xb7,
-    0x92, 0xb3, 0x82, 0x19, 0x80, 0xa2, 0xd9, 0x26, 0xf3, 0xa7, 0xd0, 0xdf, 0xd8, 0xf1, 0xaf, 0x89,
-    0x98, 0x19, 0xa9, 0x80, 0xd9, 0x38, 0xd8, 0xaf, 0x89, 0x39, 0xa9, 0x80, 0xda, 0x3c, 0xd8, 0xaf,
-    /* bank # 10 */
-    0x2e, 0x88, 0xf5, 0x75, 0xda, 0xff, 0xd8, 0x71, 0x80, 0xa9, 0xda, 0xf1, 0xff, 0xd8, 0x82, 0xa7,
-    0xf3, 0xc1, 0xf2, 0x80, 0xc2, 0xf1, 0x97, 0x86, 0x49, 0x2e, 0xa6, 0xd0, 0x50, 0x96, 0x86, 0xaf,
-    0x75, 0xd9, 0x88, 0xa2, 0xd0, 0xf3, 0xc0, 0xc3, 0xf1, 0xda, 0x8f, 0x96, 0xa2, 0xd0, 0xf3, 0xc2,
-    0xc3, 0x82, 0xb4, 0x93, 0x78, 0x78, 0xf1, 0xd8, 0x80, 0xb7, 0x90, 0xaf, 0x0d, 0x89, 0x99, 0xaf,
-    0x10, 0x80, 0x9f, 0x21, 0xda, 0x2e, 0xd8, 0x89, 0x99, 0xaf, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xaf,
-    0x82, 0x92, 0xf3, 0x41, 0x80, 0xf1, 0xd9, 0x2e, 0xd8, 0xaf, 0x82, 0xf3, 0x19, 0x80, 0xf1, 0xd9,
-    0x2e, 0xd8, 0xf1, 0x89, 0x90, 0xaf, 0xd0, 0x09, 0x8f, 0x99, 0xaf, 0x51, 0xdb, 0x89, 0x31, 0xf3,
-    0x82, 0x92, 0x19, 0xf2, 0xb1, 0x84, 0xb5, 0x94, 0x71, 0xd9, 0xf1, 0xdf, 0xf9, 0xf2, 0xb9, 0xa4,
-    0xd0, 0xf8, 0xf8, 0xf3, 0xdf, 0xd8, 0xb3, 0xb7, 0xbb, 0x82, 0xac, 0xf3, 0xc0, 0xa2, 0x80, 0x22,
-    0xf1, 0xa9, 0x22, 0x26, 0x9f, 0xaf, 0x29, 0xda, 0xac, 0xde, 0xff, 0xd8, 0xa2, 0xf2, 0xde, 0xf1,
-    0xa9, 0xdf, 0xf3, 0xb8, 0xa3, 0xd0, 0xf8, 0xf9, 0xd1, 0xd9, 0xff, 0xd8, 0xf2, 0xb2, 0xb6, 0xba,
-    0xa2, 0xd0, 0xde, 0xf8, 0xf1, 0xb0, 0x87, 0x90, 0xab, 0xd0, 0x7e, 0xb2, 0x80, 0xb7, 0x96, 0xab,
-    0x01, 0x8b, 0xb6, 0x92, 0xab, 0x05, 0xdb, 0x82, 0x9b, 0x79, 0xf3, 0xb1, 0x84, 0xb4, 0x97, 0x49,
-    0xf2, 0xa2, 0xd0, 0xf8, 0xd8, 0xf3, 0xb9, 0xa4, 0xd0, 0xf8, 0xf9, 0xd1, 0xd9, 0xf2, 0xba, 0xa2,
-    0xd0, 0xf8, 0xd8, 0xb3, 0xb7, 0xbb, 0x97, 0x8c, 0xaf, 0xf3, 0x79, 0xda, 0xf1, 0xf1, 0xf1, 0xf1,
-    0xb1, 0x88, 0xb9, 0xac, 0xd0, 0xc0, 0xb3, 0xf3, 0xf3, 0xb9, 0xaa, 0xfa, 0xf1, 0xbb, 0xaa, 0xd0,
-    /* bank # 11 */
-    0xf8, 0xf4, 0x10, 0xd8, 0xf3, 0xa7, 0xd0, 0xfa, 0x97, 0x8c, 0xaf, 0x79, 0xda, 0xf1, 0x87, 0x9a,
-    0xaa, 0xd0, 0x70, 0xd8, 0xf2, 0x82, 0x92, 0xaf, 0x31, 0xd9, 0xf1, 0xde, 0xb2, 0x82, 0xb6, 0x92,
-    0xcc, 0xb3, 0x8f, 0xb7, 0x96, 0xa6, 0x00, 0xac, 0x8c, 0x9c, 0x0c, 0x30, 0xdb, 0xb2, 0xb6, 0xba,
-    0x82, 0x92, 0xab, 0x39, 0xf3, 0xb1, 0x84, 0xb4, 0x97, 0x49, 0xd9, 0xf1, 0xb2, 0xb6, 0x80, 0x90,
-    0xa0, 0xd0, 0x5e, 0xf0, 0x92, 0x38, 0xd8, 0xf2, 0xb3, 0x82, 0xb7, 0x92, 0xbb, 0xaf, 0x31, 0xd9,
-    0xf1, 0xbb, 0xac, 0xde, 0xd0, 0xde, 0xba, 0xa2, 0xd0, 0xdf, 0xf1, 0xff, 0xd8, 0xf3, 0xb9, 0xa4,
-    0xd0, 0xf8, 0xf9, 0xd1, 0xd9, 0xf2, 0xbb, 0xa2, 0xfa, 0xf8, 0xda, 0xf2, 0xbb, 0xa2, 0xfa, 0xd8,
-    0xf2, 0xb3, 0xb7, 0xbb, 0x80, 0x92, 0xaf, 0x49, 0xd1, 0xd9, 0xf1, 0xb9, 0xa4, 0xde, 0xa0, 0xde,
-    0xdf, 0xd8, 0xf1, 0x8c, 0x9c, 0xbb, 0xac, 0xd0, 0x10, 0xac, 0xde, 0xba, 0xa2, 0xd0, 0xdf, 0xbb,
-    0x92, 0x82, 0xaf, 0xf1, 0xca, 0xf2, 0x35, 0xf1, 0x96, 0x8f, 0xa6, 0xd9, 0x00, 0xd8, 0xff
+	/* bank # 0 */
+	 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	 0x00, 0x00, 0x00, 0x00, 0x01, 0x0b, 0x10, 0xe4, 0x00, 0x00, 0x00, 0x00, 0x00, 0x50, 0x00, 0x0a, 
+	 0x06, 0xb8, 0x81, 0xa1, 0xe1, 0x89, 0xb2, 0x78, 0x37, 0xf8, 0x5a, 0x9c, 0xcf, 0xdd, 0x85, 0x3b, 
+	 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	 0x01, 0xf0, 0x19, 0x80, 0x40, 0x00, 0x00, 0x00, 0x02, 0xca, 0xe3, 0x09, 0x3e, 0x80, 0x00, 0x00, 
+	 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00, 
+	 0x00, 0x0c, 0x00, 0x00, 0x00, 0x0c, 0x18, 0x6e, 0x00, 0x00, 0x06, 0x92, 0x0a, 0x16, 0xc0, 0xdf, 
+	 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x07, 
+	 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0x0b, 0x2b, 0x00, 0x00, 0x16, 0x57, 0x00, 0x00, 0x03, 0x59, 
+	 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1d, 0xfa, 0x00, 0x02, 0x6c, 0x1d, 0x36, 0x66, 0x66, 0x66, 
+	 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x00, 
+	 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	 0x00, 0x00, 0x00, 0x00, 0x1f, 0xdb, 0xe2, 0xb9, 0x3b, 0x7b, 0x11, 0x7b, 0x32, 0x57, 0x83, 0x7b, 
+	 /* bank # 1 */
+	 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x51, 0xeb, 0x85, 0x3f, 0xae, 0x14, 0x7b, 
+	 0x00, 0x28, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	 0x00, 0x00, 0x10, 0x72, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xc8, 0xff, 0xff, 0x00, 0x01, 0x00, 0x06, 0x00, 0x01, 
+	 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x58, 0x05, 0xdc, 0x00, 0x00, 0x00, 0x00, 0x00, 0xc8, 
+	 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x03, 0x00, 0x00, 0x00, 0xff, 
+	 0x08, 0x00, 0x02, 0x00, 0x04, 0x00, 0x01, 0x00, 0x80, 0x00, 0x10, 0x00, 0x20, 0x00, 0x40, 0x00, 
+	 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 
+	 0x00, 0x35, 0xa1, 0x09, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	 0x00, 0x00, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xb2, 0x6a, 0x00, 0x00, 0x00, 0x00, 
+	 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	 0x15, 0xe3, 0xa3, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	 /* bank # 2 */
+	 0x00, 0x00, 0x00, 0x00, 0x01, 0x47, 0xae, 0x14, 0x3e, 0xb8, 0x51, 0xec, 0x00, 0x0f, 0x00, 0x00, 
+	 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	 0x00, 0x00, 0x00, 0x14, 0x00, 0x28, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	 0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	 0x00, 0x06, 0x74, 0xaa, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	 0x0e, 0x41, 0x28, 0x14, 0xc5, 0xaf, 0x3e, 0xf2, 0x59, 0xd9, 0x4a, 0x5f, 0xc2, 0x36, 0xd9, 0x51, 
+	 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0x00, 0x05, 0x00, 0x05, 0x00, 0x05, 
+	 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	 0x00, 0x1b, 0x00, 0x00, 0x00, 0xd9, 0xe8, 0x3e, 0x38, 0x00, 0x00, 0x00, 0x30, 0x00, 0x00, 0x00, 
+	 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0x00, 0x05, 0x00, 0x05, 0x00, 0x05, 
+	 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0x00, 0x05, 0x00, 0x05, 0x00, 0x05, 
+	 0xff, 0xe5, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	 /* bank # 3 */
+	 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 
+	 0x00, 0x01, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x11, 0xcc, 0xf7, 
+	 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0x00, 0x10, 0x00, 0x96, 0x00, 0x3c, 
+	 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	 0x0d, 0x28, 0xb2, 0x44, 0xca, 0x7e, 0xb5, 0xa4, 0x53, 0x69, 0xd8, 0xff, 0xc4, 0xfc, 0xbc, 0x5f, 
+	 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x08, 
+	 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x3c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x03, 0x18, 0x85, 0x00, 0x00, 0x40, 0x00, 
+	 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 
+	 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	 0x00, 0x00, 0x00, 0x00, 0x67, 0x7d, 0xdf, 0x7e, 0x72, 0x90, 0x2e, 0x55, 0x4c, 0xf6, 0xe6, 0x88, 
+	 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+	
+	 /* bank # 4 */
+	 0xd8, 0xb0, 0xb5, 0xb9, 0xf3, 0xa6, 0xf8, 0xf9, 0xd1, 0xd9, 0x81, 0x96, 0xf8, 0xf7, 0x3e, 0xd8, 
+	 0xf3, 0xb1, 0x86, 0x96, 0xa3, 0x31, 0xd1, 0xd9, 0xf4, 0x0b, 0xd8, 0xf3, 0x99, 0x31, 0xd1, 0xd9, 
+	 0xf4, 0x03, 0xd8, 0xf1, 0xff, 0xd8, 0xb9, 0xb1, 0xb4, 0xa7, 0x87, 0x9d, 0xd0, 0xf7, 0x4a, 0xf3, 
+	 0x40, 0xb8, 0xb0, 0xf7, 0xa8, 0x8d, 0x91, 0x6a, 0x8d, 0x90, 0x5f, 0x98, 0x4a, 0xb9, 0xf2, 0xa6, 
+	 0xd0, 0xf8, 0xf9, 0xd1, 0xd9, 0xf4, 0x07, 0xd8, 0xf3, 0xb8, 0xa8, 0xf9, 0xdb, 0xfb, 0xf7, 0xb9, 
+	 0xb1, 0xa7, 0x87, 0x9d, 0xd0, 0x4a, 0xd8, 0xb3, 0xb7, 0xbb, 0x8e, 0x9e, 0xae, 0xf1, 0x32, 0xf5, 
+	 0x1b, 0xf1, 0xb4, 0xb8, 0xb0, 0x80, 0x97, 0xf1, 0xa9, 0xdf, 0xdf, 0xdf, 0xaa, 0xdf, 0xdf, 0xdf, 
+	 0xf2, 0xaa, 0xc5, 0xcd, 0xc7, 0xa9, 0x0c, 0xc9, 0x2c, 0x97, 0xf1, 0xa9, 0x89, 0x26, 0x46, 0x66, 
+	 0xb2, 0x89, 0x99, 0xa9, 0x2d, 0x55, 0x7d, 0xb0, 0x8a, 0xa8, 0x96, 0x36, 0x56, 0x76, 0xd8, 0xf1, 
+	 0xb0, 0x89, 0xb9, 0xa3, 0xc3, 0xc5, 0xc7, 0xb1, 0x81, 0xb4, 0x97, 0xa3, 0x11, 0xb5, 0x93, 0xa1, 
+	 0xf0, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xf1, 0x93, 0x81, 0xa3, 0x2d, 0x55, 0x3d, 0xf2, 0xa6, 
+	 0xfa, 0xf9, 0xd1, 0xd9, 0xf8, 0xf1, 0x83, 0xa2, 0xc3, 0xc5, 0xc7, 0xd8, 0xf3, 0xa2, 0xde, 0xf1, 
+	 0x82, 0x93, 0xa3, 0x2d, 0x55, 0x7d, 0x83, 0x95, 0xf5, 0xa3, 0x30, 0xd9, 0xf3, 0xa2, 0xf8, 0xd8, 
+	 0xf5, 0xa3, 0x50, 0xd9, 0xf3, 0xa2, 0xf8, 0xd8, 0xf5, 0xa3, 0x70, 0xd9, 0xf3, 0xa2, 0xf8, 0xd8, 
+	 0xf2, 0xb9, 0xa2, 0xf8, 0xf9, 0xd1, 0xd9, 0xa6, 0xde, 0xdf, 0xf4, 0x1c, 0xd8, 0xf2, 0xa6, 0xf8, 
+	 0xf9, 0xd1, 0xd9, 0xf4, 0x14, 0xd8, 0xf2, 0xf9, 0xd1, 0xd9, 0xf8, 0xf4, 0x1e, 0xd8, 0xf2, 0xf9, 
+	 /* bank # 5 */
+	 0xd1, 0xd9, 0xf8, 0xf8, 0xf4, 0x14, 0xd8, 0xf4, 0x10, 0xd8, 0xf3, 0xa2, 0xf8, 0xf9, 0xd1, 0xda, 
+	 0xf2, 0xa6, 0xf8, 0xf1, 0xa5, 0xde, 0xd8, 0xf4, 0xa3, 0x14, 0x14, 0xd8, 0xf1, 0xa5, 0xf8, 0xa3, 
+	 0x85, 0x95, 0x09, 0xd9, 0xf1, 0xa5, 0xde, 0xf2, 0xa6, 0xf8, 0xdf, 0xd8, 0xf4, 0xa3, 0x09, 0xd8, 
+	 0xf3, 0xa2, 0xf8, 0xf9, 0xd1, 0xf4, 0xd9, 0x08, 0x17, 0xda, 0x42, 0xf2, 0xa2, 0xde, 0xf4, 0x0b, 
+	 0xd8, 0xf1, 0xa5, 0xf8, 0xa3, 0x85, 0x95, 0x19, 0xda, 0xf4, 0x05, 0xd8, 0xf2, 0xa6, 0xde, 0xdf, 
+	 0xd8, 0xf1, 0xb8, 0xaa, 0xb3, 0x8d, 0xb4, 0x98, 0x0d, 0x35, 0x5d, 0xb2, 0xb6, 0xba, 0xaf, 0x8c, 
+	 0x96, 0x19, 0x8f, 0x9f, 0xb8, 0xa8, 0x0e, 0x16, 0x1e, 0xb4, 0x9a, 0xaa, 0x88, 0x2c, 0x54, 0x7c, 
+	 0xd8, 0xf1, 0xb8, 0xb4, 0xb0, 0x97, 0x86, 0xa8, 0x31, 0x9b, 0x06, 0x99, 0x07, 0xab, 0x97, 0x28, 
+	 0x88, 0x9b, 0xf0, 0x0c, 0x20, 0x14, 0x40, 0xb0, 0xb4, 0xb8, 0xf0, 0xa8, 0x8a, 0x9a, 0x28, 0x50, 
+	 0x78, 0xb7, 0x9b, 0xa8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31, 
+	 0xf1, 0xbb, 0xab, 0x88, 0x00, 0x2c, 0x54, 0x7c, 0xf0, 0xb3, 0x8b, 0xb8, 0xa8, 0x04, 0x28, 0x50, 
+	 0x78, 0xf1, 0xb0, 0x88, 0xb4, 0x97, 0x26, 0xa8, 0x59, 0x98, 0xbb, 0xab, 0xb3, 0x8b, 0x02, 0x26, 
+	 0x46, 0x66, 0xb0, 0xb8, 0xf0, 0x8a, 0x9c, 0xa8, 0x29, 0x51, 0x79, 0x8b, 0x29, 0x51, 0x8a, 0x24, 
+	 0x70, 0x59, 0x8b, 0x20, 0x58, 0x8a, 0x44, 0x69, 0x38, 0x8b, 0x39, 0x40, 0x8a, 0x64, 0x48, 0x31, 
+	 0x8b, 0x30, 0x49, 0x88, 0xf1, 0xac, 0x00, 0x2c, 0x54, 0x7c, 0xf0, 0x8c, 0xa8, 0x04, 0x28, 0x50, 
+	 0x78, 0xf1, 0x88, 0x97, 0x26, 0xa8, 0x59, 0x98, 0xac, 0x8c, 0x02, 0x26, 0x46, 0x66, 0xf0, 0x89, 
+	 /* bank # 6 */
+	 0x9c, 0xa8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31, 0xa9, 0x88, 
+	 0x09, 0x20, 0x59, 0x70, 0xab, 0x11, 0x38, 0x40, 0x69, 0xa8, 0x19, 0x31, 0x48, 0x60, 0x8c, 0xa8, 
+	 0x3c, 0x41, 0x5c, 0x20, 0x7c, 0x00, 0xf1, 0x87, 0x98, 0x19, 0x86, 0xa8, 0x6e, 0x76, 0x7e, 0xa9, 
+	 0x99, 0x88, 0x2d, 0x55, 0x7d, 0xd8, 0xf1, 0xb3, 0x8b, 0xb4, 0x97, 0xbb, 0xab, 0xf8, 0xf9, 0xb9, 
+	 0xa3, 0xda, 0xc3, 0xc5, 0xc7, 0xd9, 0x2d, 0x4d, 0x6d, 0xd8, 0xb0, 0x8c, 0xb8, 0xac, 0xf8, 0xf9, 
+	 0xa8, 0xda, 0xc3, 0xc5, 0xc7, 0xd9, 0x2d, 0x4d, 0x6d, 0xd8, 0xf3, 0xb9, 0xac, 0xde, 0xd8, 0xb1, 
+	 0xb6, 0xb9, 0xf1, 0xa8, 0xf8, 0xf3, 0xb9, 0xaa, 0xfa, 0xf9, 0xd1, 0xda, 0xf2, 0x8a, 0xca, 0xf4, 
+	 0x0e, 0xf3, 0xb1, 0x87, 0xdd, 0xc2, 0xc2, 0xf1, 0x8c, 0xc4, 0xdc, 0xf3, 0xb9, 0xac, 0xf8, 0xd8, 
+	 0xf2, 0xb2, 0xb6, 0xba, 0xad, 0xfa, 0x8d, 0x9d, 0xab, 0x39, 0xd9, 0xad, 0xdf, 0xf4, 0x13, 0xdd, 
+	 0xf2, 0xb1, 0x87, 0xb5, 0x9a, 0x08, 0x08, 0xf1, 0xb1, 0x83, 0xc2, 0xc4, 0xc6, 0xdc, 0xf3, 0xb9, 
+	 0xac, 0xf8, 0xd8, 0xf3, 0xb2, 0xb6, 0xba, 0xad, 0xf8, 0x8d, 0x9d, 0xab, 0x11, 0xd9, 0xad, 0xde, 
+	 0xf4, 0x13, 0xdd, 0xf2, 0xb1, 0x87, 0xb5, 0x9a, 0x28, 0x28, 0xf1, 0xb0, 0x88, 0xc2, 0xc4, 0xc6, 
+	 0xdc, 0xf3, 0xb9, 0xac, 0xf8, 0xd8, 0xf3, 0xb2, 0xb6, 0xba, 0xad, 0xfa, 0x8d, 0x9d, 0xab, 0x39, 
+	 0xd9, 0xad, 0xdf, 0xf4, 0x12, 0xdd, 0xf3, 0xb1, 0x87, 0xb5, 0x9a, 0x08, 0xf2, 0xf2, 0x88, 0xc2, 
+	 0xc4, 0xc6, 0xdc, 0xf3, 0xb9, 0xac, 0xf8, 0xd8, 0xf2, 0xb2, 0xb6, 0xba, 0xae, 0xf8, 0x8e, 0x9e, 
+	 0xab, 0x11, 0xd9, 0xae, 0xde, 0xf4, 0x12, 0xdd, 0xf3, 0xb1, 0x87, 0xb5, 0x9a, 0x68, 0xf2, 0xb0, 
+	 /* bank # 7 */
+	 0x80, 0xc0, 0xc8, 0xc2, 0xdc, 0xf3, 0xb9, 0xac, 0xf8, 0xd8, 0xf2, 0xb2, 0xb6, 0xba, 0xae, 0xfa, 
+	 0x8e, 0x9e, 0xab, 0x39, 0xd9, 0xae, 0xdf, 0xf4, 0x12, 0xdd, 0xf2, 0xb1, 0x87, 0xb5, 0x9a, 0x68, 
+	 0xf2, 0xb0, 0x80, 0xc4, 0xcc, 0xc6, 0xdc, 0xf3, 0xb9, 0xac, 0xf8, 0xd8, 0xf3, 0xb2, 0xb6, 0xba, 
+	 0xae, 0xf8, 0x8e, 0x9e, 0xab, 0x11, 0xd9, 0xae, 0xde, 0xf4, 0x12, 0xdd, 0xf3, 0xb1, 0x87, 0xb5, 
+	 0x9a, 0x48, 0xf2, 0xb0, 0x81, 0xc0, 0xc8, 0xc2, 0xdc, 0xf3, 0xb9, 0xac, 0xf8, 0xd8, 0xf3, 0xb2, 
+	 0xb6, 0xba, 0xae, 0xfa, 0x8e, 0x9e, 0xab, 0x39, 0xd9, 0xae, 0xdf, 0xf4, 0x12, 0xdd, 0xf2, 0xb1, 
+	 0x87, 0xb5, 0x9a, 0x48, 0xf2, 0xb0, 0x81, 0xc4, 0xcc, 0xc6, 0xdc, 0xf3, 0xb9, 0xac, 0xf8, 0xd8, 
+	 0xf2, 0xb0, 0x88, 0xb9, 0xa8, 0xc3, 0xc5, 0xc7, 0xb1, 0xb5, 0xb9, 0xf3, 0xac, 0xfa, 0xf9, 0xd1, 
+	 0xda, 0xf4, 0x10, 0xd8, 0xf3, 0xac, 0xf8, 0xf9, 0xd1, 0xda, 0xf1, 0xb9, 0xaa, 0xdf, 0xf4, 0x1c, 
+	 0xd9, 0xf4, 0x1a, 0xd8, 0xf3, 0xac, 0xf8, 0xf9, 0xd1, 0xd9, 0xf4, 0x1d, 0xd8, 0xf2, 0x8c, 0xac, 
+	 0xf8, 0xf9, 0xd1, 0xd9, 0xc2, 0xd8, 0xf2, 0xf9, 0xd9, 0xde, 0xf4, 0x09, 0x1d, 0x16, 0xda, 0xf2, 
+	 0xdd, 0xc6, 0xdc, 0xf4, 0x30, 0xf1, 0xb9, 0xaa, 0xdf, 0xd8, 0xf1, 0xab, 0xfa, 0x8b, 0x9b, 0xa3, 
+	 0x69, 0xd9, 0xf4, 0x07, 0x06, 0xda, 0xf1, 0xb9, 0xab, 0xdf, 0xfe, 0xd8, 0xf1, 0xbb, 0xb3, 0xb7, 
+	 0xaa, 0xf9, 0xda, 0xff, 0xd9, 0x80, 0x9a, 0xaa, 0x28, 0xb0, 0x88, 0xaa, 0xd0, 0xc1, 0xa7, 0xb3, 
+	 0x81, 0x7a, 0x93, 0xf0, 0x71, 0x71, 0x60, 0x85, 0x94, 0x01, 0x29, 0x51, 0x79, 0x90, 0xa5, 0xf1, 
+	 0x28, 0x4c, 0x6c, 0x87, 0x0c, 0x95, 0x18, 0x85, 0x78, 0xb0, 0xb8, 0xaf, 0x83, 0x9a, 0x3a, 0x93, 
+	 /* bank # 8 */
+	 0xf0, 0x31, 0x31, 0x20, 0x8e, 0xb4, 0x94, 0x01, 0x29, 0x51, 0x79, 0x97, 0xae, 0xf1, 0x28, 0x4c, 
+	 0x6c, 0x8f, 0x0c, 0x9e, 0x18, 0x8e, 0x78, 0xaf, 0x83, 0xb7, 0x9a, 0x3a, 0x93, 0xf0, 0x31, 0x31, 
+	 0x20, 0xb2, 0x81, 0xb4, 0x94, 0x01, 0x9f, 0x29, 0x51, 0x79, 0x97, 0xba, 0xa1, 0xf1, 0x28, 0x4c, 
+	 0x6c, 0xb0, 0x8f, 0x0c, 0xb6, 0x91, 0x18, 0xb2, 0x81, 0x78, 0xab, 0x86, 0xb7, 0x9a, 0x1a, 0x93, 
+	 0xf0, 0x11, 0x11, 0x00, 0x84, 0xb6, 0x97, 0x01, 0x29, 0x51, 0x79, 0xb4, 0x97, 0xa4, 0xf1, 0x28, 
+	 0x4c, 0x6c, 0x8b, 0x0c, 0xb6, 0x94, 0x18, 0xb2, 0x84, 0x78, 0xbb, 0xa3, 0xb3, 0x83, 0xb7, 0x90, 
+	 0x28, 0x4c, 0x6c, 0x8a, 0x6c, 0xf2, 0xb0, 0x83, 0xb4, 0x93, 0xb8, 0xa3, 0x71, 0xd9, 0xd0, 0xf8, 
+	 0xf5, 0x8e, 0x9e, 0xb9, 0xa3, 0x78, 0xf1, 0xb1, 0x8a, 0xb5, 0x93, 0x45, 0xb2, 0x8c, 0x2e, 0xb1, 
+	 0x8a, 0x54, 0x83, 0xaa, 0xd0, 0xc6, 0xf5, 0xb2, 0x81, 0xb6, 0x91, 0xa3, 0x78, 0xf1, 0xb1, 0x8a, 
+	 0xb5, 0x93, 0x65, 0xb2, 0x8c, 0x2e, 0xb1, 0x8a, 0x74, 0x83, 0xaa, 0xd0, 0xc7, 0xd8, 0xf2, 0xb0, 
+	 0x83, 0xb8, 0xaf, 0xc6, 0xf9, 0xa3, 0xb4, 0x9f, 0x41, 0xd9, 0xf1, 0xb1, 0x8a, 0xba, 0xa6, 0xc5, 
+	 0xc7, 0xb2, 0xb6, 0xb9, 0x86, 0x96, 0xa3, 0x50, 0xb1, 0x83, 0xb5, 0x93, 0x04, 0x2c, 0xf3, 0xb8, 
+	 0xa3, 0xd0, 0xf8, 0xf9, 0xd1, 0xdb, 0xf1, 0xb6, 0x9c, 0xb9, 0xa3, 0xd0, 0x56, 0xd8, 0xf2, 0xb0, 
+	 0x83, 0xb4, 0x9f, 0xb8, 0xa3, 0x41, 0xdb, 0xf3, 0x97, 0x49, 0xf1, 0xb1, 0x83, 0xb6, 0x9c, 0xb9, 
+	 0xa3, 0xd0, 0x5e, 0xd8, 0xf2, 0xb0, 0x83, 0xb8, 0xa3, 0xb4, 0x9f, 0x41, 0xd9, 0xf3, 0xa3, 0xd0, 
+	 0xde, 0xf8, 0xf1, 0xb1, 0x83, 0xb6, 0x96, 0xb9, 0xa3, 0xdb, 0x69, 0x8a, 0x09, 0xf3, 0xb8, 0xa3, 
+	 /* bank # 9 */
+	 0xd0, 0xde, 0xf1, 0xb3, 0x86, 0xba, 0xa0, 0xc0, 0xd8, 0xf2, 0xb0, 0x83, 0xb8, 0xa3, 0xb4, 0x9f, 
+	 0x41, 0xd9, 0xd0, 0xde, 0xd8, 0xf3, 0xbb, 0xb3, 0xb7, 0x90, 0xa2, 0x82, 0x00, 0xf2, 0x10, 0xf1, 
+	 0xb2, 0x82, 0xb5, 0x9b, 0xba, 0xa2, 0xd0, 0x64, 0xf2, 0xb3, 0x82, 0xab, 0xc2, 0xf8, 0xf9, 0xd1, 
+	 0xd9, 0xf1, 0xb9, 0xa4, 0xde, 0xad, 0xde, 0xf2, 0xbb, 0xa0, 0xd0, 0xc5, 0xda, 0xf1, 0xb9, 0xa4, 
+	 0xf8, 0xd8, 0xf2, 0xbb, 0xaf, 0x80, 0xb7, 0x90, 0x58, 0x8f, 0x92, 0x0d, 0xdb, 0xf1, 0xb1, 0x84, 
+	 0xb5, 0x94, 0x21, 0xd9, 0xf5, 0xb3, 0x85, 0xb7, 0x95, 0xb9, 0xa3, 0x78, 0xf1, 0xb1, 0x80, 0xb5, 
+	 0x90, 0xa0, 0x1a, 0xf0, 0x93, 0x40, 0xf5, 0xb2, 0x84, 0xb6, 0x94, 0xa3, 0x78, 0xf1, 0xb1, 0x80, 
+	 0xb5, 0x90, 0xa0, 0x3e, 0xf0, 0x93, 0x40, 0xd8, 0xf1, 0xb9, 0xa3, 0xd0, 0xdf, 0xb0, 0x8b, 0xb5, 
+	 0x90, 0xb9, 0xa3, 0x6a, 0xb1, 0x80, 0x93, 0x05, 0xd9, 0xd0, 0xf8, 0xd8, 0xf2, 0xb3, 0x80, 0xb7, 
+	 0x90, 0xbb, 0xaf, 0x58, 0xf8, 0x8f, 0x92, 0x0d, 0xdb, 0xf1, 0xb1, 0x84, 0xb5, 0x94, 0xb9, 0xa3, 
+	 0x21, 0xd0, 0xfa, 0xd8, 0xf1, 0xb9, 0xa3, 0xd0, 0xfa, 0xf9, 0xd1, 0xd9, 0xf1, 0xb2, 0x84, 0xbb, 
+	 0xa8, 0xd0, 0xc4, 0xc7, 0xf3, 0xb9, 0xa4, 0xd0, 0xde, 0xda, 0xf1, 0xb3, 0x85, 0xbb, 0xa8, 0xd0, 
+	 0xc4, 0xc7, 0xf3, 0xb9, 0xa4, 0xd0, 0xde, 0xf8, 0xdf, 0xf8, 0xd8, 0xf3, 0xb1, 0x84, 0xb7, 0x90, 
+	 0xb9, 0xa3, 0x69, 0xdb, 0xb3, 0x80, 0xb5, 0x94, 0x11, 0xd9, 0xf2, 0xa4, 0xd0, 0xde, 0xd8, 0xf2, 
+	 0xbb, 0xaf, 0xb7, 0x92, 0xb3, 0x82, 0x19, 0x80, 0xa2, 0xd9, 0x26, 0xf3, 0xa7, 0xd0, 0xdf, 0xd8, 
+	 0xf1, 0xaf, 0x89, 0x98, 0x19, 0xa9, 0x80, 0xd9, 0x38, 0xd8, 0xaf, 0x89, 0x39, 0xa9, 0x80, 0xda, 
+	 /* bank # 10 */
+	 0x3c, 0xd8, 0xaf, 0x2e, 0x88, 0xf5, 0x75, 0xda, 0xff, 0xd8, 0x71, 0x80, 0xa9, 0xda, 0xf1, 0xff, 
+	 0xd8, 0x82, 0xa7, 0xf3, 0xc1, 0xf2, 0x80, 0xc2, 0xf1, 0x97, 0x86, 0x49, 0x2e, 0xa6, 0xd0, 0x50, 
+	 0x96, 0x86, 0xaf, 0x75, 0xd9, 0x88, 0xa2, 0xd0, 0xf3, 0xc0, 0xc3, 0xf1, 0xda, 0x8f, 0x96, 0xa2, 
+	 0xd0, 0xf3, 0xc2, 0xc3, 0x82, 0xb4, 0x93, 0x78, 0x78, 0xf1, 0xd8, 0x80, 0xb7, 0x90, 0xaf, 0x0d, 
+	 0x89, 0x99, 0xaf, 0x10, 0x80, 0x9f, 0x21, 0xda, 0x2e, 0xd8, 0x89, 0x99, 0xaf, 0x31, 0x80, 0xda, 
+	 0x2e, 0xd8, 0xaf, 0x82, 0x92, 0xf3, 0x41, 0x80, 0xf1, 0xd9, 0x2e, 0xd8, 0xaf, 0x82, 0xf3, 0x19, 
+	 0x80, 0xf1, 0xd9, 0x2e, 0xd8, 0xf1, 0x89, 0x90, 0xaf, 0xd0, 0x09, 0x8f, 0x99, 0xaf, 0x51, 0xdb, 
+	 0x89, 0x31, 0xf3, 0x82, 0x92, 0x19, 0xf2, 0xb1, 0x84, 0xb5, 0x94, 0x71, 0xd9, 0xf1, 0xdf, 0xf9, 
+	 0xf2, 0xb9, 0xa4, 0xd0, 0xf8, 0xf8, 0xf3, 0xdf, 0xd8, 0xb3, 0xb7, 0xbb, 0x82, 0xac, 0xf3, 0xc0, 
+	 0xa2, 0x80, 0x22, 0xf1, 0xa9, 0x22, 0x26, 0x9f, 0xaf, 0x29, 0xda, 0xac, 0xde, 0xff, 0xd8, 0xa2, 
+	 0xf2, 0xde, 0xf1, 0xa9, 0xdf, 0xf3, 0xb8, 0xa3, 0xd0, 0xf8, 0xf9, 0xd1, 0xd9, 0xff, 0xd8, 0xf2, 
+	 0xb2, 0xb6, 0xba, 0xa2, 0xd0, 0xde, 0xf8, 0xf1, 0xb0, 0x87, 0x90, 0xab, 0xd0, 0x7e, 0xb2, 0x80, 
+	 0xb7, 0x96, 0xab, 0x01, 0x8b, 0xb6, 0x92, 0xab, 0x05, 0xdb, 0x82, 0x9b, 0x79, 0xf3, 0xb1, 0x84, 
+	 0xb4, 0x97, 0x49, 0xf2, 0xa2, 0xd0, 0xf8, 0xd8, 0xf3, 0xb9, 0xa4, 0xd0, 0xf8, 0xf9, 0xd1, 0xd9, 
+	 0xf2, 0xba, 0xa2, 0xd0, 0xf8, 0xd8, 0xf1, 0xb1, 0xb9, 0x8e, 0xaf, 0xc3, 0xc5, 0xc7, 0x8d, 0xae, 
+	 0xc3, 0xc5, 0xc7, 0xf0, 0xb0, 0x8c, 0xb4, 0x9c, 0xad, 0x3c, 0x11, 0x0c, 0x58, 0x2c, 0x50, 0xf1, 
+	 /* bank # 11 */
+	 0xb1, 0x8d, 0xb5, 0x9d, 0xad, 0x2c, 0x54, 0x7c, 0xb4, 0x97, 0x71, 0xb5, 0x9f, 0xad, 0x2a, 0xf0, 
+	 0x50, 0x78, 0xd8, 0xb3, 0xb7, 0xbb, 0x97, 0x8c, 0xaf, 0xf3, 0x79, 0xda, 0xf1, 0xf1, 0xf1, 0xf1, 
+	 0xb1, 0x88, 0xb9, 0xac, 0xd0, 0xc0, 0xb3, 0xf3, 0xf3, 0xb9, 0xaa, 0xfa, 0xf1, 0xbb, 0xaa, 0xd0, 
+	 0xf8, 0xf4, 0x10, 0xd8, 0xf3, 0xa7, 0xd0, 0xfa, 0x97, 0x8c, 0xaf, 0x79, 0xda, 0xf1, 0x87, 0x9a, 
+	 0xaa, 0xd0, 0x70, 0xd8, 0xf2, 0x82, 0x90, 0xaf, 0x39, 0xd9, 0xf1, 0xde, 0xb2, 0x82, 0xb6, 0x92, 
+	 0xcc, 0xb3, 0x8f, 0xb7, 0x96, 0xa6, 0x00, 0xac, 0x8c, 0x9c, 0x0c, 0x30, 0xdb, 0xb2, 0xb6, 0xba, 
+	 0x82, 0x92, 0xab, 0x39, 0xf3, 0xb1, 0x84, 0xb4, 0x97, 0x49, 0xd9, 0xf1, 0xb2, 0xb6, 0x80, 0x90, 
+	 0xa0, 0xd0, 0x5e, 0xf0, 0x92, 0x38, 0xd8, 0xf2, 0xb3, 0x82, 0xb7, 0x92, 0xbb, 0xaf, 0x31, 0xd9, 
+	 0xf1, 0xbb, 0xac, 0xde, 0xd0, 0xde, 0xba, 0xa2, 0xd0, 0xdf, 0xf1, 0xff, 0xd8, 0xf3, 0xb9, 0xa4, 
+	 0xd0, 0xf8, 0xf9, 0xd1, 0xd9, 0xf2, 0xbb, 0xa2, 0xfa, 0xf8, 0xda, 0xf2, 0xbb, 0xa2, 0xfa, 0xd8, 
+	 0xf2, 0xba, 0xa3, 0xde, 0xf8, 0xf8, 0xf8, 0xb3, 0x82, 0xb6, 0x93, 0x25, 0xdb, 0xf1, 0xb1, 0x8e, 
+	 0xb5, 0x9d, 0x05, 0xd9, 0xf2, 0xbb, 0xa0, 0xd0, 0xfa, 0xf8, 0xd8, 0xf2, 0xb3, 0x82, 0xb5, 0x9f, 
+	 0xbb, 0xaf, 0x40, 0x8f, 0xb7, 0x90, 0x1d, 0xda, 0x82, 0xb5, 0x9f, 0xa0, 0xd0, 0x44, 0xd8, 0xb7, 
+	 0x80, 0x92, 0xaf, 0x49, 0xd1, 0xd9, 0xf1, 0xb9, 0xa4, 0xde, 0xa0, 0xde, 0xdf, 0xd8, 0xf1, 0x8c, 
+	 0x9c, 0xbb, 0xac, 0xd0, 0x10, 0xac, 0xde, 0xba, 0xa2, 0xd0, 0xdf, 0xbb, 0x92, 0x82, 0xaf, 0xf1, 
+	 0xca, 0xf2, 0x35, 0xf1, 0x96, 0x8f, 0xa6, 0xd9, 0x00, 0xd8, 0xff  
 };
 
 #define DMP_VERSION (dmpMemory)
diff --git a/6515/libsensors_iio/software/core/mllite/linux/ml_sysfs_helper.c b/6515/libsensors_iio/software/core/mllite/linux/ml_sysfs_helper.c
index d2b9543..eff5688 100644
--- a/6515/libsensors_iio/software/core/mllite/linux/ml_sysfs_helper.c
+++ b/6515/libsensors_iio/software/core/mllite/linux/ml_sysfs_helper.c
@@ -34,6 +34,7 @@ static char *chip_name[] = {
     "MPU3050",
     "MPU6500",
     "MPU9250",
+    "MPU9255",
     "MPU6XXX",
     "MPU9350",
     "MPU6515",
diff --git a/6515/libsensors_iio/software/core/mllite/mpl.c b/6515/libsensors_iio/software/core/mllite/mpl.c
index c0c7fca..cc881b6 100644..100755
--- a/6515/libsensors_iio/software/core/mllite/mpl.c
+++ b/6515/libsensors_iio/software/core/mllite/mpl.c
@@ -46,7 +46,7 @@ inv_error_t inv_init_mpl(void)
     return INV_SUCCESS;
 }
 
-const char ml_ver[] = "InvenSense MA 5.2.0 K RC23";
+const char ml_ver[] = "InvenSense MA 5.2.0 L RC26";
 
 /**
  *  @brief  used to get the MPL version.
diff --git a/6515/libsensors_iio/software/core/mpl/build/android/shared.mk b/6515/libsensors_iio/software/core/mpl/build/android/shared.mk
index 1d6f904..0963bb4 100644
--- a/6515/libsensors_iio/software/core/mpl/build/android/shared.mk
+++ b/6515/libsensors_iio/software/core/mpl/build/android/shared.mk
@@ -3,6 +3,17 @@ LIBRARY = $(LIB_PREFIX)$(MPL_LIB_NAME).$(SHARED_LIB_EXT)
 
 MK_NAME = $(notdir $(CURDIR)/$(firstword $(MAKEFILE_LIST)))
 
+# ANDROID version check
+BUILD_ANDROID_LOLLIPOP = $(shell test -d $(ANDROID_ROOT)/bionic/libc/kernel/uapi && echo 1)
+$(info YD>>BUILD_ANDROID_LOLLIPOP = $(BUILD_ANDROID_LOLLIPOP))
+#ANDROID version check END
+
+ifeq ($(BUILD_ANDROID_LOLLIPOP),1)
+CFLAGS += -DANDROID_LOLLIPOP
+else
+CFLAGS += -DANDROID_KITKAT
+endif
+
 CROSS ?= $(ANDROID_ROOT)/prebuilt/linux-x86/toolchain/arm-eabi-4.4.0/bin/arm-eabi-
 COMP  ?= $(CROSS)gcc
 LINK  ?= $(CROSS)gcc
@@ -25,7 +36,9 @@ CFLAGS += -DNDEBUG
 CFLAGS += -D_REENTRANT
 CFLAGS += -DLINUX
 CFLAGS += -DANDROID
+ifeq ($(ARCH),arm)
 CFLAGS += -mthumb-interwork
+endif
 CFLAGS += -fno-exceptions
 CFLAGS += -ffunction-sections
 CFLAGS += -funwind-tables
@@ -42,12 +55,17 @@ LLINK += -lcutils
 LLINK += -lgcc 
 LLINK += -ldl
 
+
 LFLAGS += $(CMDLINE_LFLAGS)
 LFLAGS += -shared 
 LFLAGS += -Wl,-soname,$(LIBRARY)
 LFLAGS += -Wl,-shared,-Bsymbolic 
 LFLAGS += $(ANDROID_LINK)
+ifeq ($(ARCH),arm64)
+LFLAGS += -Wl,-rpath,$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib
+else
 LFLAGS += -Wl,-rpath,$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib:$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/system/lib
+endif
 
 ####################################################################################################
 ## sources
diff --git a/6515/libsensors_iio/software/simple_apps/devnode_parser/build/android/inv_devnode_parser-shared b/6515/libsensors_iio/software/simple_apps/devnode_parser/build/android/inv_devnode_parser-shared
index 6ced019..56d04f9 100755
--- a/6515/libsensors_iio/software/simple_apps/devnode_parser/build/android/inv_devnode_parser-shared
+++ b/6515/libsensors_iio/software/simple_apps/devnode_parser/build/android/inv_devnode_parser-shared
diff --git a/6515/libsensors_iio/software/simple_apps/devnode_parser/build/android/shared.mk b/6515/libsensors_iio/software/simple_apps/devnode_parser/build/android/shared.mk
index 38d1fb4..8e45293 100644
--- a/6515/libsensors_iio/software/simple_apps/devnode_parser/build/android/shared.mk
+++ b/6515/libsensors_iio/software/simple_apps/devnode_parser/build/android/shared.mk
@@ -2,7 +2,18 @@ EXEC = inv_devnode_parser$(SHARED_APP_SUFFIX)
 
 MK_NAME = $(notdir $(CURDIR)/$(firstword $(MAKEFILE_LIST)))
 
-CROSS ?= $(ANDROID_ROOT)/prebuilt/linux-x86/toolchain/arm-eabi-4.4.0/bin/arm-eabi-
+# ANDROID version check
+BUILD_ANDROID_LOLLIPOP = $(shell test -d $(ANDROID_ROOT)/bionic/libc/kernel/uapi && echo 1)
+$(info YD>>BUILD_ANDROID_LOLLIPOP = $(BUILD_ANDROID_LOLLIPOP))
+#ANDROID version check END
+
+ifeq ($(BUILD_ANDROID_LOLLIPOP),1)
+CFLAGS += -DANDROID_LOLLIPOP
+else
+CFLAGS += -DANDROID_KITKAT
+endif
+
+#--yd CROSS ?= $(ANDROID_ROOT)/prebuilt/linux-x86/toolchain/arm-eabi-4.4.0/bin/arm-eabi-
 COMP  ?= $(CROSS)gcc
 LINK  ?= $(CROSS)gcc
 
@@ -17,13 +28,18 @@ include $(INV_ROOT)/software/build/android/common.mk
 CFLAGS += $(CMDLINE_CFLAGS)
 CFLAGS += $(ANDROID_COMPILE)
 CFLAGS += -Wall
+ifeq ($(BUILD_ANDROID_LOLLIPOP),1)
+else
 CFLAGS += -fpic
+endif
 CFLAGS += -nostdlib
 CFLAGS += -DNDEBUG
 CFLAGS += -D_REENTRANT
 CFLAGS += -DLINUX
 CFLAGS += -DANDROID
+ifeq ($(ARCH),arm)
 CFLAGS += -mthumb-interwork
+endif
 CFLAGS += -fno-exceptions
 CFLAGS += -ffunction-sections
 CFLAGS += -funwind-tables
@@ -48,7 +64,11 @@ LLINK += -lz
 LFLAGS += $(CMDLINE_LFLAGS)
 LFLAGS += $(ANDROID_LINK_EXECUTABLE)
 
+ifeq ($(ARCH),arm64)
+LRPATH  = -Wl,-rpath,$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib
+else
 LRPATH  = -Wl,-rpath,$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib:$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/system/lib
+endif
 
 ####################################################################################################
 ## sources
diff --git a/6515/libsensors_iio/software/simple_apps/gesture_test/build/android/inv_gesture_test-shared b/6515/libsensors_iio/software/simple_apps/gesture_test/build/android/inv_gesture_test-shared
index f59b8d3..9eabad9 100755
--- a/6515/libsensors_iio/software/simple_apps/gesture_test/build/android/inv_gesture_test-shared
+++ b/6515/libsensors_iio/software/simple_apps/gesture_test/build/android/inv_gesture_test-shared
diff --git a/6515/libsensors_iio/software/simple_apps/gesture_test/build/android/shared.mk b/6515/libsensors_iio/software/simple_apps/gesture_test/build/android/shared.mk
index 8591982..67a20db 100644
--- a/6515/libsensors_iio/software/simple_apps/gesture_test/build/android/shared.mk
+++ b/6515/libsensors_iio/software/simple_apps/gesture_test/build/android/shared.mk
@@ -2,7 +2,18 @@ EXEC = inv_gesture_test$(SHARED_APP_SUFFIX)
 
 MK_NAME = $(notdir $(CURDIR)/$(firstword $(MAKEFILE_LIST)))
 
-CROSS ?= $(ANDROID_ROOT)/prebuilt/linux-x86/toolchain/arm-eabi-4.4.0/bin/arm-eabi-
+# ANDROID version check
+BUILD_ANDROID_LOLLIPOP = $(shell test -d $(ANDROID_ROOT)/bionic/libc/kernel/uapi && echo 1)
+$(info YD>>BUILD_ANDROID_LOLLIPOP = $(BUILD_ANDROID_LOLLIPOP))
+#ANDROID version check END
+
+ifeq ($(BUILD_ANDROID_LOLLIPOP),1)
+CFLAGS += -DANDROID_LOLLIPOP
+else
+CFLAGS += -DANDROID_KITKAT
+endif
+
+#--yd CROSS ?= $(ANDROID_ROOT)/prebuilt/linux-x86/toolchain/arm-eabi-4.4.0/bin/arm-eabi-
 COMP  ?= $(CROSS)gcc
 LINK  ?= $(CROSS)gcc
 
@@ -18,13 +29,18 @@ include $(INV_ROOT)/software/build/android/common.mk
 CFLAGS += $(CMDLINE_CFLAGS)
 CFLAGS += $(ANDROID_COMPILE)
 CFLAGS += -Wall
+ifeq ($(BUILD_ANDROID_LOLLIPOP),1)
+else
 CFLAGS += -fpic
+endif
 CFLAGS += -nostdlib
 CFLAGS += -DNDEBUG
 CFLAGS += -D_REENTRANT
 CFLAGS += -DLINUX
 CFLAGS += -DANDROID
+ifeq ($(ARCH),arm)
 CFLAGS += -mthumb-interwork
+endif
 CFLAGS += -fno-exceptions
 CFLAGS += -ffunction-sections
 CFLAGS += -funwind-tables
@@ -51,7 +67,11 @@ LLINK += -lz
 LFLAGS += $(CMDLINE_LFLAGS)
 LFLAGS += $(ANDROID_LINK_EXECUTABLE)
 
+ifeq ($(ARCH),arm64)
+LRPATH  = -Wl,-rpath,$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib
+else
 LRPATH  = -Wl,-rpath,$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib:$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/system/lib
+endif
 
 ####################################################################################################
 ## sources
diff --git a/6515/libsensors_iio/software/simple_apps/mpu_iio/build/android/inv_mpu_iio-shared b/6515/libsensors_iio/software/simple_apps/mpu_iio/build/android/inv_mpu_iio-shared
index 209700b..943b747 100755
--- a/6515/libsensors_iio/software/simple_apps/mpu_iio/build/android/inv_mpu_iio-shared
+++ b/6515/libsensors_iio/software/simple_apps/mpu_iio/build/android/inv_mpu_iio-shared
diff --git a/6515/libsensors_iio/software/simple_apps/mpu_iio/build/android/shared.mk b/6515/libsensors_iio/software/simple_apps/mpu_iio/build/android/shared.mk
index 2dda9e0..dc6c46b 100644
--- a/6515/libsensors_iio/software/simple_apps/mpu_iio/build/android/shared.mk
+++ b/6515/libsensors_iio/software/simple_apps/mpu_iio/build/android/shared.mk
@@ -2,7 +2,18 @@ EXEC = inv_mpu_iio$(SHARED_APP_SUFFIX)
 
 MK_NAME = $(notdir $(CURDIR)/$(firstword $(MAKEFILE_LIST)))
 
-CROSS ?= $(ANDROID_ROOT)/prebuilt/linux-x86/toolchain/arm-eabi-4.4.0/bin/arm-eabi-
+# ANDROID version check
+BUILD_ANDROID_LOLLIPOP = $(shell test -d $(ANDROID_ROOT)/bionic/libc/kernel/uapi && echo 1)
+$(info YD>>BUILD_ANDROID_LOLLIPOP = $(BUILD_ANDROID_LOLLIPOP))
+#ANDROID version check END
+
+ifeq ($(BUILD_ANDROID_LOLLIPOP),1)
+CFLAGS += -DANDROID_LOLLIPOP
+else
+CFLAGS += -DANDROID_KITKAT
+endif
+
+#--yd CROSS ?= $(ANDROID_ROOT)/prebuilt/linux-x86/toolchain/arm-eabi-4.4.0/bin/arm-eabi-
 COMP  ?= $(CROSS)gcc
 LINK  ?= $(CROSS)gcc
 
@@ -18,13 +29,18 @@ include $(INV_ROOT)/software/build/android/common.mk
 CFLAGS += $(CMDLINE_CFLAGS)
 CFLAGS += $(ANDROID_COMPILE)
 CFLAGS += -Wall
+ifeq ($(BUILD_ANDROID_LOLLIPOP),1)
+else
 CFLAGS += -fpic
+endif
 CFLAGS += -nostdlib
 CFLAGS += -DNDEBUG
 CFLAGS += -D_REENTRANT
 CFLAGS += -DLINUX
 CFLAGS += -DANDROID
+ifeq ($(ARCH),arm)
 CFLAGS += -mthumb-interwork
+endif
 CFLAGS += -fno-exceptions
 CFLAGS += -ffunction-sections
 CFLAGS += -funwind-tables
@@ -35,6 +51,10 @@ CFLAGS += -I$(MLLITE_DIR)
 CFLAGS += -I$(MPL_DIR)
 CFLAGS += $(INV_INCLUDES)
 CFLAGS += $(INV_DEFINES)
+#for arm64 --yd
+ifeq ($(ARCH),arm64)
+#--yd CFLAGS += -Bdynamic -pie
+endif
 
 LLINK  = -lc
 LLINK += -lm
@@ -45,11 +65,20 @@ LLINK += -ldl
 LLINK += -lstdc++
 LLINK += -llog
 LLINK += -lz
+ifeq ($(ARCH),arm64)
+#--yd LLINK += -Wl,-dynamic-linker,/system/bin/linker64 -Wl,-z,nocopyreloc
+#--yd LLINK += -Wl,-rpath-link=out/target/product/generic_arm64/obj/lib
+#--yd LLINK += -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now -Wl,--warn-shared-textrel -Wl,--fatal-warnings -Wl,-maarch64linux -Wl,--no-undefined
+endif
 
 LFLAGS += $(CMDLINE_LFLAGS)
 LFLAGS += $(ANDROID_LINK_EXECUTABLE)
 
+ifeq ($(ARCH),arm64)
+LRPATH  = -Wl,-rpath,$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib
+else
 LRPATH  = -Wl,-rpath,$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib:$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/system/lib
+endif
 
 ####################################################################################################
 ## sources
diff --git a/6515/libsensors_iio/software/simple_apps/playback/linux/build/android/inv_playback-shared b/6515/libsensors_iio/software/simple_apps/playback/linux/build/android/inv_playback-shared
index 692612e..4ba5116 100755
--- a/6515/libsensors_iio/software/simple_apps/playback/linux/build/android/inv_playback-shared
+++ b/6515/libsensors_iio/software/simple_apps/playback/linux/build/android/inv_playback-shared
diff --git a/6515/libsensors_iio/software/simple_apps/playback/linux/build/android/shared.mk b/6515/libsensors_iio/software/simple_apps/playback/linux/build/android/shared.mk
index dc33ee3..98d3954 100644
--- a/6515/libsensors_iio/software/simple_apps/playback/linux/build/android/shared.mk
+++ b/6515/libsensors_iio/software/simple_apps/playback/linux/build/android/shared.mk
@@ -2,7 +2,18 @@ EXEC = inv_playback$(SHARED_APP_SUFFIX)
 
 MK_NAME = $(notdir $(CURDIR)/$(firstword $(MAKEFILE_LIST)))
 
-CROSS ?= $(ANDROID_ROOT)/prebuilt/linux-x86/toolchain/arm-eabi-4.4.0/bin/arm-eabi-
+# ANDROID version check
+BUILD_ANDROID_LOLLIPOP = $(shell test -d $(ANDROID_ROOT)/bionic/libc/kernel/uapi && echo 1)
+$(info YD>>BUILD_ANDROID_LOLLIPOP = $(BUILD_ANDROID_LOLLIPOP))
+#ANDROID version check END
+
+ifeq ($(BUILD_ANDROID_LOLLIPOP),1)
+CFLAGS += -DANDROID_LOLLIPOP
+else
+CFLAGS += -DANDROID_KITKAT
+endif
+
+#--yd CROSS ?= $(ANDROID_ROOT)/prebuilt/linux-x86/toolchain/arm-eabi-4.4.0/bin/arm-eabi-
 COMP  ?= $(CROSS)gcc
 LINK  ?= $(CROSS)gcc
 
@@ -19,13 +30,18 @@ include $(INV_ROOT)/software/build/android/common.mk
 CFLAGS += $(CMDLINE_CFLAGS)
 CFLAGS += $(ANDROID_COMPILE)
 CFLAGS += -Wall
+ifeq ($(BUILD_ANDROID_LOLLIPOP),1)
+else
 CFLAGS += -fpic
+endif
 CFLAGS += -nostdlib
 CFLAGS += -DNDEBUG
 CFLAGS += -D_REENTRANT
 CFLAGS += -DLINUX
 CFLAGS += -DANDROID
+ifeq ($(ARCH),arm)
 CFLAGS += -mthumb-interwork
+endif
 CFLAGS += -fno-exceptions
 CFLAGS += -ffunction-sections
 CFLAGS += -funwind-tables
@@ -51,7 +67,11 @@ LLINK += -lz
 LFLAGS += $(CMDLINE_LFLAGS)
 LFLAGS += $(ANDROID_LINK_EXECUTABLE)
 
+ifeq ($(ARCH),arm64)
+LRPATH  = -Wl,-rpath,$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib
+else
 LRPATH  = -Wl,-rpath,$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib:$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/system/lib
+endif
 
 ####################################################################################################
 ## sources
diff --git a/6515/libsensors_iio/software/simple_apps/self_test/build/android/inv_self_test-shared b/6515/libsensors_iio/software/simple_apps/self_test/build/android/inv_self_test-shared
index c537f77..c46b16a 100755
--- a/6515/libsensors_iio/software/simple_apps/self_test/build/android/inv_self_test-shared
+++ b/6515/libsensors_iio/software/simple_apps/self_test/build/android/inv_self_test-shared
diff --git a/6515/libsensors_iio/software/simple_apps/self_test/build/android/shared.mk b/6515/libsensors_iio/software/simple_apps/self_test/build/android/shared.mk
index ed5fbf6..a00d732 100644
--- a/6515/libsensors_iio/software/simple_apps/self_test/build/android/shared.mk
+++ b/6515/libsensors_iio/software/simple_apps/self_test/build/android/shared.mk
@@ -2,7 +2,18 @@ EXEC = inv_self_test$(SHARED_APP_SUFFIX)
 
 MK_NAME = $(notdir $(CURDIR)/$(firstword $(MAKEFILE_LIST)))
 
-CROSS ?= $(ANDROID_ROOT)/prebuilt/linux-x86/toolchain/arm-eabi-4.4.0/bin/arm-eabi-
+# ANDROID version check
+BUILD_ANDROID_LOLLIPOP = $(shell test -d $(ANDROID_ROOT)/bionic/libc/kernel/uapi && echo 1)
+$(info YD>>BUILD_ANDROID_LOLLIPOP = $(BUILD_ANDROID_LOLLIPOP))
+#ANDROID version check END
+
+ifeq ($(BUILD_ANDROID_LOLLIPOP),1)
+CFLAGS += -DANDROID_LOLLIPOP
+else
+CFLAGS += -DANDROID_KITKAT
+endif
+
+#--yd CROSS ?= $(ANDROID_ROOT)/prebuilt/linux-x86/toolchain/arm-eabi-4.4.0/bin/arm-eabi-
 COMP  ?= $(CROSS)gcc
 LINK  ?= $(CROSS)gcc
 
@@ -20,13 +31,18 @@ include $(INV_ROOT)/software/build/android/common.mk
 CFLAGS += $(CMDLINE_CFLAGS)
 CFLAGS += $(ANDROID_COMPILE)
 CFLAGS += -Wall
+ifeq ($(BUILD_ANDROID_LOLLIPOP),1)
+else
 CFLAGS += -fpic
+endif
 CFLAGS += -nostdlib
 CFLAGS += -DNDEBUG
 CFLAGS += -D_REENTRANT
 CFLAGS += -DLINUX
 CFLAGS += -DANDROID
+ifeq ($(ARCH),arm)
 CFLAGS += -mthumb-interwork
+endif
 CFLAGS += -fno-exceptions
 CFLAGS += -ffunction-sections
 CFLAGS += -funwind-tables
@@ -52,8 +68,11 @@ LLINK += -lz
 
 LFLAGS += $(CMDLINE_LFLAGS)
 LFLAGS += $(ANDROID_LINK_EXECUTABLE)
-
+ifeq ($(ARCH),arm64)
+LRPATH  = -Wl,-rpath,$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib
+else
 LRPATH  = -Wl,-rpath,$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib:$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/system/lib
+endif
 
 ####################################################################################################
 ## sources
diff --git a/6515/libsensors_iio/software/simple_apps/stress_iio/build/android/shared.mk b/6515/libsensors_iio/software/simple_apps/stress_iio/build/android/shared.mk
index fe844a5..56e9125 100644
--- a/6515/libsensors_iio/software/simple_apps/stress_iio/build/android/shared.mk
+++ b/6515/libsensors_iio/software/simple_apps/stress_iio/build/android/shared.mk
@@ -2,7 +2,18 @@ EXEC = inv_stress_iio$(SHARED_APP_SUFFIX)
 
 MK_NAME = $(notdir $(CURDIR)/$(firstword $(MAKEFILE_LIST)))
 
-CROSS ?= $(ANDROID_ROOT)/prebuilt/linux-x86/toolchain/arm-eabi-4.4.0/bin/arm-eabi-
+# ANDROID version check
+BUILD_ANDROID_LOLLIPOP = $(shell test -d $(ANDROID_ROOT)/bionic/libc/kernel/uapi && echo 1)
+$(info YD>>BUILD_ANDROID_LOLLIPOP = $(BUILD_ANDROID_LOLLIPOP))
+#ANDROID version check END
+
+ifeq ($(BUILD_ANDROID_LOLLIPOP),1)
+CFLAGS += -DANDROID_LOLLIPOP
+else
+CFLAGS += -DANDROID_KITKAT
+endif
+
+#--yd CROSS ?= $(ANDROID_ROOT)/prebuilt/linux-x86/toolchain/arm-eabi-4.4.0/bin/arm-eabi-
 COMP  ?= $(CROSS)gcc
 LINK  ?= $(CROSS)gcc
 
@@ -18,13 +29,18 @@ include $(INV_ROOT)/software/build/android/common.mk
 CFLAGS += $(CMDLINE_CFLAGS)
 CFLAGS += $(ANDROID_COMPILE)
 CFLAGS += -Wall
+ifeq ($(BUILD_ANDROID_LOLLIPOP),1)
+else
 CFLAGS += -fpic
+endif
 CFLAGS += -nostdlib
 CFLAGS += -DNDEBUG
 CFLAGS += -D_REENTRANT
 CFLAGS += -DLINUX
 CFLAGS += -DANDROID
+ifeq ($(ARCH),arm)
 CFLAGS += -mthumb-interwork
+endif
 CFLAGS += -fno-exceptions
 CFLAGS += -ffunction-sections
 CFLAGS += -funwind-tables
@@ -49,7 +65,11 @@ LLINK += -lz
 LFLAGS += $(CMDLINE_LFLAGS)
 LFLAGS += $(ANDROID_LINK_EXECUTABLE)
 
-LRPATH  = -Wl,-rpath,$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib:$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/system/lib
+ifeq ($(ARCH),arm64)
+LRPATH  = -Wl,-rpath,$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib
+else
+#--yd LRPATH  = -Wl,-rpath,$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/obj/lib:$(ANDROID_ROOT)/out/target/product/$(PRODUCT)/system/lib
+endif
 
 ####################################################################################################
 ## sources
author	Nick Vaccaro <nvaccaro@google.com>	2015-03-19 17:33:25 -0700
committer	Nick Vaccaro <nvaccaro@google.com>	2015-05-14 14:47:56 -0700
commit	9b7ebb5143dd692c20fc9348ae999450133dad57 (patch)
tree	4829f3f786d6510844abffafec779b34eacffc7a
parent	6452c4ee74f245f0814e0cf44f2b6c1ad7a18fdf (diff)
download	invensense-9b7ebb5143dd692c20fc9348ae999450133dad57.tar.gz